ContactDB

该数据集名为ContactDB，包含了各种真实世界的物品，这些物品代表了日常生活中常被操作的物体。为了适应机器人手掌的大小，每个物体都按比例缩小。在筛选多样性后，数据集中包含了114个物体。该数据集的任务是使用机器人手进行物体在手内的操作。

The dataset named ContactDB comprises a variety of real-world objects representing items that are commonly manipulated in daily life. To fit the size of robotic palms, each object has been proportionally scaled down. After diversity-based filtering, the dataset contains 114 objects. The task of this dataset is to perform in-hand manipulation of objects using robotic hands.