272 success-filtered scripted-expert episodes (158 frames each, 60 Hz sim / 1 control step
per frame) of a Franka Panda picking up a randomized-mass grey cube (0.24–1.19 kg,
uniform-by-density; visually identical across masses) among 3 distractor cubes and placing
it in a basket, in the Genesis simulator.
The scripted expert is tactile-reactive: grip force ramps on sensed slip. Collected with
MimicGen-style stratified… See the full description on the dataset page:
https://huggingface.co/datasets/jalal06/tactile-genesis-heavy-mg-v2.
