readme

README.md

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-=======
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 license: mit
 task_categories:
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 - tactile
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 # 📦 FreeTacman
 ## Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation
 
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 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.
 ![FreeTacMan System Overview](https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/FreeTacMan/task/datasetweb.png)
-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.
+Please refer to our 🚀 [Website](http://opendrivelab.com/freetacman) | 📄 [Paper](http://arxiv.org/abs/2506.01941) | 💻 [Code](https://opendrivelab.com/FreeTacMan) | 🛠️ [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:
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-- **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
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 - `timestamp` - Unix Timestamp
 
 #### Tool Center Point (TCP) Data
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-- `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)
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-#### 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
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 ## 💼 License
 
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-This dataset is released under the Apache 2.0 License. See LICENSE file for details.
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-## 📧 Contact
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-For questions or issues regarding the dataset, please contact: Longyan Wu (im.longyanwu@gmail.com)
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-
-=======
 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).
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+For questions or issues regarding the dataset, please contact: Longyan Wu (im.longyanwu@gmail.com).