iantc104/leap_hand_grasp_dataset_knife_v2

该数据集是一个用于机器人操作任务的数据集，包含关节位置（q）、关节掩码（q_mask）、物体姿态（object_pose）、目标位置（target_pos）、目标法向量（target_normal）、接触位置（contact_pos）、接触法向量（contact_normal）、接触链接ID（contact_link_id）和批次索引（batch_index）等特征。这些数据可能用于训练机器人抓取或操作模型，涉及接触点预测、姿态控制等任务。数据集仅包含训练集，有100,000个样本，总大小约为39.8 MB。

This dataset is designed for robotic manipulation tasks, and includes features such as joint position (q), joint mask (q_mask), object pose (object_pose), target position (target_pos), target normal vector (target_normal), contact position (contact_pos), contact normal vector (contact_normal), contact link ID (contact_link_id), and batch index (batch_index). This data can be utilized to train robotic grasping or manipulation models, covering tasks including contact point prediction and pose control. The dataset only contains a training set, with 100,000 samples and a total size of approximately 39.8 MB.