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README.md

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-license: cc-by-nc-4.0
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+# Sparsh-skin dataset
+
+For Sparsh-skin the dataset consists of ~4 hours of contact data with different types of household objects, collected via a VR teleoperation using the Meta Quest 3.
+
+There are 14 different objects in the dataset, each containing 10 sequences per object, which are each ~2 mins long. Every object has varied interaction with the object, including sliding, tapping, object reorientation in the hand, and the like.
+
+We provide the sequences used for SSL training in an extracted `pickle` format. Each sequence in the dataset has the following structure:
+
+```bash
+.
+├── ball
+│   ├── 0
+│   │   ├── allegro # contains data.pkl with allegro joint states information
+│   │   └── xela # contains `data.pkl` and `forces.pkl`; `data.pkl` contains raw data used for training, and `forces.pkl` contains
+│   ├── 1
+|   |....
+|
+|-- baseline
+│   ├── allegro
+│   ├── realsense
+│   │   └── color
+│   └── xela
+|-- urdf
+```