serpentguan/Camellia-Golden-Hands

Camellia Golden Hands Dataset 🖐️

This dataset contains absolute rigid-body kinematics for dexterous robotic hands, collected purely via monocular iPhone TrueDepth (Zero-GPU, Extreme Cost-Efficiency).

🚀 Why this dataset?

Traditional RGB tracking suffers from "perspective distortion" (the rubber-hand effect). Camellia V11 engine mathematically locks the ratio_matrix_factor to anatomical constants and decouples the wrist to absolute (0,0,0). Result: 100% rigid-body JSON data that can be fed directly into metal dexterous hands without IK solvers crashing.

📁 Structure (LeRobot Compatible)

• data/003.parquet: High-frequency tabular data. The column observation.state contains 21x3 3D coordinates.
• videos/003.mp4: Raw synced video feed (33FPS high-speed electric guitar picking).