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Nomad MESHCODEX is a wearable capture device that records hand joint angles for robot learning datasets.
- for
- Robotics researchers and developers building hand-manipulation policies.
- pricing
- paid
works withPythonROS 2LeRobotHDF5CSVParquetURDF
Key features
6 features of MESHCODEX
- 13-DoF hand tracking — Captures 10 finger flexion angles plus 3-DoF wrist orientation with 12-bit magnetic encoders.
- USB-C and BLE interfaces — Connect tethered or wirelessly for live streaming or local recording.
- Python-first SDK — MIT-licensed client streams data, records sessions, and exports to common formats.
- Multi-format export — Exports datasets as LeRobot HDF5, CSV/Parquet, ROS 2 topics, or URDF retarget presets.
- Bimanual synchronization — Pair two muffs for shared session clock and aligned dual-hand recordings.
- Retarget presets — Maps captured trajectories to Allegro, Shadow, LEAP, and custom hand URDFs.
Use cases
- Capture dexterous in-hand manipulation such as rolling a cube or spinning a pen
- Record bimanual coordination tasks like hand-offs or jar opening
- Log tool-use motions with grip transitions under load
- Collect long-horizon deformable-object handling like cloth folding
- Gather industrial assembly cycles directly on the production line
MESHCODEX FAQ
What degrees of freedom does the device capture?+
It tracks 13 DoF: 10 finger flexion angles (MCP + PIP × 5) and 3-DoF wrist orientation.
Does the hardware capture tactile or force data?+
No, the v1 device does not include tactile or force sensing; contact is inferred from kinematics.
How is the data exported for training?+
Sessions can be exported directly to LeRobot HDF5, CSV/Parquet files, ROS 2 topics, or URDF retarget presets.
Can I use the device for both left and right hands?+
Yes, there are left-hand and right-hand variants and a bimanual pair option with a shared session clock.
Is there academic pricing?+
Academic pricing is available on request for .edu email addresses; you note it at checkout to receive an adjusted invoice.
Summarized by DevHunt from meshcodex.com · Oct 1, 2026. Details may change; check the official site.