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index 0000000000000000000000000000000000000000..46febc941bd837b42d8c7b0ce8bdbdbb5b1f752a
--- /dev/null
+++ b/.gitattributes
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+# Git LFS 配置 - 处理大文件
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.csv filter=lfs diff=lfs merge=lfs -text
+*.xlsx filter=lfs diff=lfs merge=lfs -text
+# 忽略系统文件
+.DS_Store
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+.Python
+*.so
+.coverage
+.pytest_cache/
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index 0000000000000000000000000000000000000000..f28b087c9700b3168b62dd77612e843aa01003c9
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+# 系统文件
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
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+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# 临时文件
+*.tmp
+*.temp
+*~
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diff --git a/README.md b/README.md
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+# 📦 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.
+![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.
+
+## 📂 Dataset Structure
+
+The dataset is organized into 50 task categories, each containing:
+
+- **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.
+
+
+## 🧾 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
+- `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.
+
+
+## 📝 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
+
+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)
+
+
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