qqyang/sim-pen

ShadowHandPen RGB + raw rigid-contact tactile trajectories

This dataset contains 5,000 successful ShadowHandPen PPO rollouts. Each episode stores synchronized RGB frames, robot hand joint/object state in trajectory_env0.npz, and dense EgoTouch-layout pressure in pressure_grids.npz. The pressure grids are computed from pairwise rigid contacts and Gaussian projection onto 217 valid taxels per hand.

The tar files preserve the original collection shards. Shard-level duplicate RGB frame folders and QA-only videos are intentionally omitted.