Humanoid-Bimanual-GraspStability

Humanoid-Bimanual-GraspStability simulates two-handed object-manipulation trials -- lifting, carrying, handover between hands, and in-hand rotation stress tests -- across 20 independently-sampled end-effector embodiments (max grip force, fingertip friction coefficient, tactile sensing latency, grip-force control bandwidth, sensor noise). Each hand's grasp is modeled as a friction-cone contact interface: a grasp sustains tangential (shear) force up to the friction coefficient times the normal (grip) force before slipping. Grip force is regulated by a reactive, tactile-triggered controller modeled on published human-inspired robotic grasp-control research, so most trials recover from transient slip rather than failing outright. Trials additionally vary object mass, center-of-mass offset, surface-friction perturbations, sudden dynamic load-shift events, and external bump disturbances. Each timestep records 20 channels per hand-pair: grip/normal/shear force, slip velocity and cumulative slip, object roll/pitch drift, IMU-like object acceleration, wrist torque, and a continuous grasp-stability margin. Trials are labeled with one of four outcomes: success, slip_recovered, slip_dropped, or misaligned_dropped. This is a fully synthetic dataset -- no real robot telemetry, proprietary, or personal data was used.