| # 📦 FreeTacman | |
| ## Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation | |
| ## 🎯 Overview | |
| This dataset supports the paper **[FreeTacman: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation](http://arxiv.org/abs/2506.01941)**. It contains a large-scale, high-precision visuo-tactile manipulation dataset with over 3000k visuo-tactile image pairs, more than 10k trajectories across 50 tasks. | |
|  | |
| Please refer to our 🚀 [Website](http://opendrivelab.com/freetacman) | 📄 [Paper](http://arxiv.org/abs/2506.01941) | 🛠️ [Hardware Guide](https://docs.google.com/document/d/1Hhi2stn_goXUHdYi7461w10AJbzQDC0fdYaSxMdMVXM/edit?addon_store&tab=t.0#heading=h.rl14j3i7oz0t) | 📺 [Video](https://opendrivelab.github.io/FreeTacMan/landing/FreeTacMan_demo_video.mp4) | 🌐 [X](https://x.com/OpenDriveLab/status/1930234855729836112) for more details. | |
| ## 📂 Dataset Structure | |
| The dataset is organized into 50 task categories, each containing: | |
| <<<<<<< HEAD | |
| - **Video files**: Synchronized video recordings from the wrist-mounted and visuo-tactile cameras for each demonstration. | |
| - **Trajectory files**: Detailed 3D tracking data for TCP and gripper distance. | |
| ======= | |
| - **Video files**: Synchronized video recordings from the wrist-mounted and visuo-tactile cameras for each demonstration | |
| - **Trajectory files**: Detailed tracking data for tool center point pose and gripper distance | |
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| ## 🧾 Data Format | |
| ### Video Files | |
| - **Format**: MP4 | |
| - **Views**: Wrist-mounted camera and visuo-tactile camera perspectives per demonstration | |
| ### Trajectory Files | |
| Each trajectory file contains the following data columns: | |
| #### Timestamp | |
| - `timestamp` - Unix Timestamp | |
| #### Tool Center Point (TCP) Data | |
| <<<<<<< HEAD | |
| - `TCP_pos_x`, `TCP_pos_y`, `TCP_pos_z` - TCP 3D position (mm) | |
| - `TCP_euler_x`, `TCP_euler_y`, `TCP_euler_z` - TCP orientation (Euler angles in degrees) | |
| - `quat_w`, `quat_x`, `quat_y`, `quat_z` - TCP orientation (quaternion representation) | |
| #### Gripper Data | |
| - `gripper_distance` - Gripper opening distance (mm) | |
| All positional data is measured in millimeters (mm), and orientation angles are in degrees. | |
| ======= | |
| - `TCP_pos_x`, `TCP_pos_y`, `TCP_pos_z` - TCP position | |
| - `TCP_euler_x`, `TCP_euler_y`, `TCP_euler_z` - TCP orientation (euler angles) | |
| - `quat_w`, `quat_x`, `quat_y`, `quat_z` - TCP orientation (quaternion representation) | |
| #### Gripper Data | |
| - `gripper_distance` - Gripper opening distance | |
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| ## 📝 Citation | |
| If you use this dataset in your research, please cite: | |
| ```bibtex | |
| @article{wu2025freetacman, | |
| title={Freetacman: Robot-free visuo-tactile data collection system for contact-rich manipulation}, | |
| author={Wu, Longyan and Yu, Checheng and Ren, Jieji and Chen, Li and Jiang, Yufei and Huang, Ran and Gu, Guoying and Li, Hongyang}, | |
| journal={arXiv preprint arXiv:2506.01941}, | |
| year={2025} | |
| } | |
| ``` | |
| ## 💼 License | |
| <<<<<<< HEAD | |
| This dataset is released under the Apache 2.0 License. See LICENSE file for details. | |
| ## 📧 Contact | |
| For questions or issues regarding the dataset, please contact: Longyan Wu (im.longyanwu@gmail.com) | |
| ======= | |
| This dataset is released under the MIT License. See LICENSE file for details. | |
| ## 📧 Contact | |
| For questions or issues regarding the dataset, please contact: Longyan Wu (im.longyanwu@gmail.com). | |
| >>>>>>> 1e471f3c4c4c835a000978e1540f25f6a6345aaf | |