Noctis12138/dexhand-cover-data

dexhand cover_blocks (generated)

Scripted (no teleoperation) demonstrations of RoboDojo cover_blocks on a dual Marvin M6-S CCS-696 (7-DoF) + Wuji gen-1 (20-DoF) robot, generated in Isaac Sim 5.1 / Isaac Lab 2.3 (RoboDojo cb2a37d + dexhand overlay). All data in this repository was generated by us in simulation.

Layout

lerobot/cover_v2_7seg_*/: 52 LeRobot v3.0 datasets (lerobot 0.4.4), shards of up to 20 generated episodes (p<k>_sNNN rolling shards, f_sNNN final shards; together they hold every episode once). Each generated episode is cut into 7 sub-task episodes (3 cover, 3 uncover, return to start); ranges are consecutive. conversion_manifest.jsonl maps each sub-task episode to its source episode and frame range; key recovery:... marks the retry after an injected fault (the faulted skill call itself is not included).

Totals (batch cover_v2): 1025 generated episodes (925 normal, 100 with an injected fault + recovery) -> 7175 sub-task episodes, 729,402 frames at 25 Hz. Layout tiers of the episodes: D0 / D1 / D2 = 307 / 445 / 273 (30.0 / 43.4 / 26.6 %).

key	shape	meaning
observation.state	54 float32	measured joints: left arm J1-J7, left hand 20, right arm J1-J7, right hand 20 (hand joints finger-major: finger1_joint1..4 ... finger5_joint1..4); names in meta/info.json
action	54 float32	commanded absolute joint targets, same order (NOT state[t+1]: the hand grip force is the PD error of a target past contact)
observation.images.cam_high	480x640 video	head camera
observation.images.cam_left_wrist / cam_right_wrist	480x640 video	palm-side wrist cameras (D405 model)
task	text	sub-task instruction

fps 25 (policy rate; physics 250 Hz). Video: libsvtav1 CRF 18, GOP 2, yuv420p (same as the released RoboDojo LeRobot v3.0 data). Decoding with torchcodec needs matching ffmpeg libs; video_backend="pyav" works.

Sub-tasks (instructions)

• cover the {left|middle|right} block with the {left|middle|right} cup (left arm: left / middle slot, right arm: right slot)
• uncover the {left|middle|right} cup (order in the task: red, green, blue block; position words refer to the slot)
• return both arms to the start pose (the go-home tail of the last skill)

Every cover / uncover sub-task starts and ends with both arms at their home pose. Official full-task instruction: "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue."

Generation (batch cover_v2)

Layout tiers D0 (official slots, colour permutation; coincides with the official layouts) / D1 (+-3 cm jitter, block yaw +-30 deg) / D2 (slot spacing 0.15-0.25 m) = 0.30 / 0.45 / 0.25. Claw grasp of the inverted conical cup with the official Wuji finger gains (thumb 0.8 rad, fingers 0.15 rad past contact), fingertip friction 1.0, arm motion within the vendor ccs_m6_40 velocity (<= 54 %) and acceleration (<= 100 % commanded) limits. Kept only if every skill passes its own check and the official success check passes. Normal episodes 688-758 policy steps (official limit 800). Fault episodes (10 %): a cup dropped during lift / carry, or placed 5.5-7 cm beside its block, then the same skill is retried with the same instruction; attempts where the dropped cup toppled were discarded.