Tactile sliding and slip

Embodiment: gripper or hand with vision-based or taxel tactile sensors (GelSight-style or similar), named in the listing.
Modalities: raw tactile frames or arrays at 30 Hz or more, wrist force/torque, joint states, one external RGB view.
Tasks: sliding objects across surfaces, in-hand slip, regrasping, handling deformable and fragile items. 50 or more objects.
Labels: slip onset timestamps, object material and weight.
Format: LeRobot v3.0 (we can convert v2.1, MCAP or raw video with Prep). Acceptance: passes Soul Verified validation (decodes, streams in sync, every episode labelled) on a 2 hour sample before the full order. Rate is final after the sample is validated.
Rate: $90 to $120 per capture hour, final on validation.