Error code:   JWTInvalidSignature
Exception:    InvalidSignatureError
Message:      Signature verification failed
Traceback:    Traceback (most recent call last):
                File "/src/libs/libapi/src/libapi/jwt_token.py", line 286, in validate_jwt
                  decoded = jwt.decode(
                      jwt=token,
                  ...<2 lines>...
                      options=options,
                  )
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jwt.py", line 368, in decode
                  decoded = self.decode_complete(
                      jwt,
                  ...<8 lines>...
                      leeway=leeway,
                  )
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jwt.py", line 265, in decode_complete
                  decoded = self._jws.decode_complete(
                      jwt,
                  ...<3 lines>...
                      detached_payload=detached_payload,
                  )
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jws.py", line 270, in decode_complete
                  self._verify_signature(
                  ~~~~~~~~~~~~~~~~~~~~~~^
                      signing_input,
                      ^^^^^^^^^^^^^^
                  ...<4 lines>...
                      options=merged_options,
                      ^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jws.py", line 417, in _verify_signature
                  raise InvalidSignatureError("Signature verification failed")
              jwt.exceptions.InvalidSignatureError: Signature verification failed

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flexa-picknplace1

H1 humanoid + Shadow Hand replay of pick-and-place manipulation from iPhone egocentric capture.

Pipeline

iPhone rear camera (Record3D .r3d) → HaMeR 2D hand detection + MANO pose → Record3D LiDAR depth fusion → 3D wrist trajectories → Jacobian IK for H1 arms → DexMV finger retargeting → MuJoCo replay → LeRobot export

Data

Robot: Unitree H1 + Shadow Hand (48 DOF: 10 arm + 38 finger)
Task: Pick and place
Episodes: 1
Frames: 690
FPS: 30
Format: LeRobot v2.1 (Parquet + MP4)

Features

Feature	Shape	Type
`observation.state`	(48,)	float32
`action`	(48,)	float32
`observation.images.sim`	(480, 640, 3)	video
`observation.images.ego`	(480, 640, 3)	video

Joint Names (state/action ordering)

Arm joints: left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw, left_elbow, left_wrist_yaw, right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow, right_wrist_yaw

Finger joints: Shadow Hand curl DOFs (WRJ1/2, FFJ1-3, MFJ1-3, RFJ1-3, LFJ1-3, THJ1-5) × left + right

Source

Pipeline: flexa-tech/flexa-pipeline
Capture: iPhone 15 Pro rear camera with Record3D LiDAR
Hand reconstruction: HaMeR (on Modal)
Finger retargeting: DexMV
IK: Custom Jacobian solver with elbow-out nullspace bias

License

CC-BY-4.0

Downloads last month: 29

Total file size:

12.6 MB