dexhand-midtrain

Simulated mid-training data for a dual Marvin M6-S (7-DoF) + Wuji 20-DoF hand robot (54-D state / action), generated in RoboDojo (Isaac Sim) with the robot model v2 (2026-10-22: right hand on the mirror mount, right-arm home = joint mirror of the left-arm home, so sim right-arm joints map to the real right arm by the sign vector [-1, 1, -1, 1, -1, 1, -1]). Head camera: RealSense D435 model (640x480), wrist cameras D405. Each batch is split into LeRobot shards (lerobot/<batch>_<tag>_p0_sNNN/), cut into atomic sub-task segments with language instructions; every shard was verified against the generator's HDF5 (state / action / task / index: 0 mismatches, image PSNR >= 33 dB) before upload. Every episode's meta carries robot: ... model v2.

batch	task	episodes (success / attempts)	shards	notes
cover_m2	cover_blocks	100 / 114	5 x 140 segments (7 per episode)	appearance randomisation, arm noise, 15 % injected faults
align_v2	align_blocks	103 / 249	5 x 40	both arms push the ruler
bottles_v2	put_bottles_into_dustbin	101 / 124	5 x 100	4 bottles on the left half, left arm
blocks_v2	stack_blocks	101 / 389	5 x 60	3 / 3.5 / 4 cm cubes, thumb-index pinch, either half
bowls_v2	stack_bowls	106 / 190	5 x 60	11 cm bowls, three on one half, one arm
pickup_v2	general_pickup	107 / 150	5 x 40 (one pick-hold-place per episode)	household target among the official clutter: cup, yogurt, noodles, glue, toy, sachet; "pick up the "
pack_v2	pack_objects_into_box	in progress (2026-10-24 night)	success-based, one "put the shoe in the box" per episode	shoes only: the car / toothbrush claws do not lift and the hammer pinch fails IK on this hand; the other objects stay on the table
dolls_v2	sort_nesting_dolls_by_size	planned for the same night	successful "put the doll in its place" / "move ... out of the way" segments (also from failed episodes)	five matryoshka dolls (texture0), per-model 5-finger claws, sorted smallest-left to largest-right
pens_v2	fill_pen_holder	100 / 211 (two markers standing = success)	11 shards, 388 "put a pen into the pen holder" segments (successful inserts of failed episodes included)	two flat markers per episode, holder spawned on the left (no relay); thumb vs index+middle pinch at the marker's middle, rolled upright, carried above the rim, inserted side by side; no arm noise

Generator and tooling: github (private) dexhand, commit history in each shard's meta. More tasks follow as their batches are verified.