Soft Contact Manipulation Dataset

## Overview Dexterous manipulation with soft contacts: compliant grippers, deformable objects, and force feedback. ## What's included per episode - RGB-D streams - End-effector poses and forces - Object keypoints and segmentation masks - Task labels (pick, place, insert, squeeze) ## Quick facts | Recordings | 4,200+ | | Task types | 12 | | Modalities | RGB-D, force, joint states | ## Intended use Policy learning for compliant manipulation; sim-to-real transfer with soft contacts.