Search is not available for this dataset
timestamp float64 0 23 ⌀ | frame_index int64 0 689 ⌀ | episode_index int64 0 0 | index int64 0 689 ⌀ | task_index int64 0 0 ⌀ | observation.state.left_shoulder_pitch float64 -0.65 0.28 ⌀ | observation.state.left_shoulder_roll float64 -0 0.32 ⌀ | observation.state.left_shoulder_yaw float64 -0.17 0.03 ⌀ | observation.state.left_elbow float64 -0.08 1.37 ⌀ | observation.state.left_wrist_yaw float64 -0.04 0.06 ⌀ | observation.state.right_shoulder_pitch float64 -0.9 0.17 ⌀ | observation.state.right_shoulder_roll float64 -0.47 -0.06 ⌀ | observation.state.right_shoulder_yaw float64 -0.25 0.1 ⌀ | observation.state.right_elbow float64 -0.22 1.43 ⌀ | observation.state.right_wrist_yaw float64 -0.09 0.26 ⌀ | observation.state.lh_WRJ1 float64 -0.42 0.42 ⌀ | observation.state.lh_WRJ2 float64 -0.52 0.17 ⌀ | observation.state.lh_FFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_FFJ2 float64 0 1.43 ⌀ | observation.state.lh_FFJ1 float64 0 0.68 ⌀ | observation.state.lh_MFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_MFJ2 float64 0 1.18 ⌀ | observation.state.lh_MFJ1 float64 0 0.28 ⌀ | observation.state.lh_RFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_RFJ2 float64 0 1.43 ⌀ | observation.state.lh_RFJ1 float64 0 0.39 ⌀ | observation.state.lh_LFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_LFJ2 float64 0 1.43 ⌀ | observation.state.lh_LFJ1 float64 0.94 1.57 ⌀ | observation.state.lh_THJ5 float64 -1.04 1.05 ⌀ | observation.state.lh_THJ4 float64 0 1.19 ⌀ | observation.state.lh_THJ3 float64 -0.17 0.21 ⌀ | observation.state.lh_THJ2 float64 -0.23 0.52 ⌀ | observation.state.lh_THJ1 float64 -0.12 0 ⌀ | observation.state.rh_WRJ1 float64 -0.41 0.42 ⌀ | observation.state.rh_WRJ2 float64 -0.52 0.17 ⌀ | observation.state.rh_FFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_FFJ2 float64 0 1.37 ⌀ | observation.state.rh_FFJ1 float64 0 1.13 ⌀ | observation.state.rh_MFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_MFJ2 float64 0 1.43 ⌀ | observation.state.rh_MFJ1 float64 0 0.45 ⌀ | observation.state.rh_RFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_RFJ2 float64 0 1.47 ⌀ | observation.state.rh_RFJ1 float64 0 1.19 ⌀ | observation.state.rh_LFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_LFJ2 float64 0 1.47 ⌀ | observation.state.rh_LFJ1 float64 0.95 1.57 ⌀ | observation.state.rh_THJ5 float64 -1.05 1.05 ⌀ | observation.state.rh_THJ4 float64 0 1.19 ⌀ | observation.state.rh_THJ3 float64 -0.07 0.21 ⌀ | observation.state.rh_THJ2 float64 -0.15 0.52 ⌀ | observation.state.rh_THJ1 float64 -0.09 0 ⌀ | action.left_shoulder_pitch float64 -0.65 0.28 ⌀ | action.left_shoulder_roll float64 -0 0.32 ⌀ | action.left_shoulder_yaw float64 -0.17 0.03 ⌀ | action.left_elbow float64 -0.08 1.37 ⌀ | action.left_wrist_yaw float64 -0.04 0.06 ⌀ | action.right_shoulder_pitch float64 -0.9 0.17 ⌀ | action.right_shoulder_roll float64 -0.47 -0.06 ⌀ | action.right_shoulder_yaw float64 -0.25 0.1 ⌀ | action.right_elbow float64 -0.21 1.43 ⌀ | action.right_wrist_yaw float64 -0.09 0.26 ⌀ | action.lh_WRJ1 float64 -0.42 0.42 ⌀ | action.lh_WRJ2 float64 -0.52 0.17 ⌀ | action.lh_FFJ3 float64 -0.26 0.44 ⌀ | action.lh_FFJ2 float64 0 1.43 ⌀ | action.lh_FFJ1 float64 0 0.68 ⌀ | action.lh_MFJ3 float64 -0.26 0.44 ⌀ | action.lh_MFJ2 float64 0 1.18 ⌀ | action.lh_MFJ1 float64 0 0.28 ⌀ | action.lh_RFJ3 float64 -0.26 0.44 ⌀ | action.lh_RFJ2 float64 0 1.43 ⌀ | action.lh_RFJ1 float64 0 0.39 ⌀ | action.lh_LFJ3 float64 -0.26 0.44 ⌀ | action.lh_LFJ2 float64 0 1.43 ⌀ | action.lh_LFJ1 float64 0.94 1.57 ⌀ | action.lh_THJ5 float64 -1.04 1.05 ⌀ | action.lh_THJ4 float64 0 1.19 ⌀ | action.lh_THJ3 float64 -0.17 0.21 ⌀ | action.lh_THJ2 float64 -0.23 0.52 ⌀ | action.lh_THJ1 float64 -0.12 0 ⌀ | action.rh_WRJ1 float64 -0.41 0.42 ⌀ | action.rh_WRJ2 float64 -0.52 0.17 ⌀ | action.rh_FFJ3 float64 -0.26 0.44 ⌀ | action.rh_FFJ2 float64 0 1.37 ⌀ | action.rh_FFJ1 float64 0 1.13 ⌀ | action.rh_MFJ3 float64 -0.26 0.44 ⌀ | action.rh_MFJ2 float64 0 1.43 ⌀ | action.rh_MFJ1 float64 0 0.45 ⌀ | action.rh_RFJ3 float64 -0.26 0.44 ⌀ | action.rh_RFJ2 float64 0 1.47 ⌀ | action.rh_RFJ1 float64 0 1.19 ⌀ | action.rh_LFJ3 float64 -0.26 0.44 ⌀ | action.rh_LFJ2 float64 0 1.47 ⌀ | action.rh_LFJ1 float64 0.95 1.57 ⌀ | action.rh_THJ5 float64 -1.05 1.05 ⌀ | action.rh_THJ4 float64 0 1.19 ⌀ | action.rh_THJ3 float64 -0.07 0.21 ⌀ | action.rh_THJ2 float64 -0.15 0.52 ⌀ | action.rh_THJ1 float64 -0.09 0 ⌀ | observation.state listlengths 48 48 ⌀ | action listlengths 48 48 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 0 | 0 | 0 | 0 | 0.160325 | 0.085207 | 0.018747 | -0.080379 | -0.000498 | 0.172786 | -0.294097 | -0.232599 | -0.21841 | -0.006212 | -0.094689 | -0.44209 | 0.375961 | 0.085918 | 0.108194 | 0.272822 | 0.047732 | 0.033413 | 0.436 | 0.531422 | 0.035004 | -0.06163 | 0.335718 | 1.397045 | -0.666273 | 0.184566 | 0.122369 | 0.052506 | 0 | 0.352852 | -0.523599 | 0.436 | 0.16229 | 0.200476 | 0.436 | 0.225934 | 0.060461 | 0.436 | 0.195703 | 0.206841 | 0.283537 | 0 | 1.106635 | 0.285829 | 0 | 0.071455 | 0.314554 | -0.01432 | 0.160931 | 0.114017 | 0.026575 | -0.079026 | -0.003508 | 0.173352 | -0.338432 | -0.245128 | -0.209854 | -0.011994 | -0.10512 | -0.441618 | 0.391731 | 0.089101 | 0.119331 | 0.272822 | 0.055688 | 0.031822 | 0.436 | 0.528239 | 0.033413 | -0.041087 | 0.315034 | 1.398636 | -0.666273 | 0.184566 | 0.122369 | 0.042959 | 0 | 0.354457 | -0.523599 | 0.436 | 0.160699 | 0.195703 | 0.436 | 0.233889 | 0.055688 | 0.436 | 0.192521 | 0.198885 | 0.283537 | 0 | 1.106635 | 0.300148 | 0 | 0.071455 | 0.314554 | -0.01432 | [
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0.033333 | 1 | 0 | 1 | 0 | 0.160931 | 0.114017 | 0.026575 | -0.079026 | -0.003508 | 0.173352 | -0.338432 | -0.245128 | -0.209854 | -0.011994 | -0.10512 | -0.441618 | 0.391731 | 0.089101 | 0.119331 | 0.272822 | 0.055688 | 0.031822 | 0.436 | 0.528239 | 0.033413 | -0.041087 | 0.315034 | 1.398636 | -0.666273 | 0.184566 | 0.122369 | 0.042959 | 0 | 0.354457 | -0.523599 | 0.436 | 0.160699 | 0.195703 | 0.436 | 0.233889 | 0.055688 | 0.436 | 0.192521 | 0.198885 | 0.283537 | 0 | 1.106635 | 0.300148 | 0 | 0.071455 | 0.314554 | -0.01432 | 0.165728 | 0.120387 | 0.022001 | -0.082072 | -0.004866 | 0.060836 | -0.37904 | -0.221737 | -0.099975 | -0.011825 | -0.120097 | -0.477666 | 0.382466 | 0.154335 | 0.154335 | 0.352095 | 0.125696 | 0.046141 | 0.436 | 0.625295 | 0.05887 | -0.050633 | 0.315034 | 1.381892 | -0.856636 | 0.092283 | 0.170006 | 0.012729 | 0 | 0.343026 | -0.523599 | 0.436 | 0.173428 | 0.252982 | 0.436 | 0.259346 | 0.074781 | 0.436 | 0.222752 | 0.251391 | 0.359769 | 0 | 1.037007 | 0.187465 | 0 | 0.119091 | 0.366963 | -0.012729 | [
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0.066667 | 2 | 0 | 2 | 0 | 0.165728 | 0.120387 | 0.022001 | -0.082072 | -0.004866 | 0.060836 | -0.37904 | -0.221737 | -0.099975 | -0.011825 | -0.120097 | -0.477666 | 0.382466 | 0.154335 | 0.154335 | 0.352095 | 0.125696 | 0.046141 | 0.436 | 0.625295 | 0.05887 | -0.050633 | 0.315034 | 1.381892 | -0.856636 | 0.092283 | 0.170006 | 0.012729 | 0 | 0.343026 | -0.523599 | 0.436 | 0.173428 | 0.252982 | 0.436 | 0.259346 | 0.074781 | 0.436 | 0.222752 | 0.251391 | 0.359769 | 0 | 1.037007 | 0.187465 | 0 | 0.119091 | 0.366963 | -0.012729 | 0.165728 | 0.120387 | 0.022001 | -0.082072 | -0.004866 | 0.052314 | -0.384425 | -0.216092 | -0.086114 | -0.012372 | -0.148029 | -0.523599 | 0.381016 | 0.248209 | 0.217978 | 0.352095 | 0.206841 | 0.070008 | 0.436 | 0.820999 | 0.093874 | -0.069726 | 0.377087 | 1.448718 | -0.856636 | 0.092283 | 0.192185 | -0.003182 | 0 | 0.370157 | -0.523599 | 0.436 | 0.225934 | 0.340492 | 0.436 | 0.343674 | 0.098647 | 0.436 | 0.295941 | 0.329354 | 0.359769 | 0 | 0.987683 | 0.06336 | 0 | 0.166727 | 0.419277 | -0.012729 | [
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0.1 | 3 | 0 | 3 | 0 | 0.165728 | 0.120387 | 0.022001 | -0.082072 | -0.004866 | 0.052314 | -0.384425 | -0.216092 | -0.086114 | -0.012372 | -0.148029 | -0.523599 | 0.381016 | 0.248209 | 0.217978 | 0.352095 | 0.206841 | 0.070008 | 0.436 | 0.820999 | 0.093874 | -0.069726 | 0.377087 | 1.448718 | -0.856636 | 0.092283 | 0.192185 | -0.003182 | 0 | 0.370157 | -0.523599 | 0.436 | 0.225934 | 0.340492 | 0.436 | 0.343674 | 0.098647 | 0.436 | 0.295941 | 0.329354 | 0.359769 | 0 | 0.987683 | 0.06336 | 0 | 0.166727 | 0.419277 | -0.012729 | 0.147138 | 0.140953 | 0.024533 | -0.061293 | -0.006724 | 0.026911 | -0.395337 | -0.205273 | -0.053576 | -0.012985 | -0.173729 | -0.523599 | 0.381016 | 0.326172 | 0.287986 | 0.352095 | 0.262529 | 0.08751 | 0.436 | 1.008746 | 0.116149 | -0.085637 | 0.437548 | 1.530696 | -0.856636 | 0.092283 | 0.20944 | -0.035004 | 0 | 0.400438 | -0.523599 | 0.436 | 0.280031 | 0.42641 | 0.436 | 0.429592 | 0.124104 | 0.436 | 0.365949 | 0.410499 | 0.359769 | 0 | 0.947906 | -0.062335 | 0 | 0.20944 | 0.47159 | -0.01432 | [
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0.133333 | 4 | 0 | 4 | 0 | 0.147138 | 0.140953 | 0.024533 | -0.061293 | -0.006724 | 0.026911 | -0.395337 | -0.205273 | -0.053576 | -0.012985 | -0.173729 | -0.523599 | 0.381016 | 0.326172 | 0.287986 | 0.352095 | 0.262529 | 0.08751 | 0.436 | 1.008746 | 0.116149 | -0.085637 | 0.437548 | 1.530696 | -0.856636 | 0.092283 | 0.20944 | -0.035004 | 0 | 0.400438 | -0.523599 | 0.436 | 0.280031 | 0.42641 | 0.436 | 0.429592 | 0.124104 | 0.436 | 0.365949 | 0.410499 | 0.359769 | 0 | 0.947906 | -0.062335 | 0 | 0.20944 | 0.47159 | -0.01432 | 0.117396 | 0.159978 | 0.02735 | -0.027899 | -0.007601 | 0.00129 | -0.404984 | -0.19528 | -0.021108 | -0.013364 | -0.212279 | -0.523599 | 0.301743 | 0.36754 | 0.302306 | 0.352095 | 0.297532 | 0.101829 | 0.356727 | 0.994427 | 0.138424 | -0.091861 | 0.429592 | 1.521908 | -1.04251 | 0 | 0.20944 | -0.023866 | 0 | 0.377118 | -0.523599 | 0.436 | 0.276848 | 0.424819 | 0.436 | 0.42641 | 0.122513 | 0.436 | 0.359585 | 0.408908 | 0.356727 | 0 | 0.962226 | -0.057562 | 0 | 0.20944 | 0.466817 | -0.012729 | [
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0.166667 | 5 | 0 | 5 | 0 | 0.117396 | 0.159978 | 0.02735 | -0.027899 | -0.007601 | 0.00129 | -0.404984 | -0.19528 | -0.021108 | -0.013364 | -0.212279 | -0.523599 | 0.301743 | 0.36754 | 0.302306 | 0.352095 | 0.297532 | 0.101829 | 0.356727 | 0.994427 | 0.138424 | -0.091861 | 0.429592 | 1.521908 | -1.04251 | 0 | 0.20944 | -0.023866 | 0 | 0.377118 | -0.523599 | 0.436 | 0.276848 | 0.424819 | 0.436 | 0.42641 | 0.122513 | 0.436 | 0.359585 | 0.408908 | 0.356727 | 0 | 0.962226 | -0.057562 | 0 | 0.20944 | 0.466817 | -0.012729 | 0.084451 | 0.177587 | 0.030103 | 0.009819 | -0.007981 | -0.024563 | -0.413464 | -0.186003 | 0.011967 | -0.013495 | -0.307328 | -0.523599 | 0.346012 | 0.408908 | 0.361176 | 0.356727 | 0.329354 | 0.11774 | 0.356727 | 0.943512 | 0.168655 | 0.054238 | 0.297532 | 1.529104 | -1.038303 | 0 | 0.20944 | -0.033413 | 0 | 0.34701 | -0.523599 | 0.436 | 0.286395 | 0.402544 | 0.436 | 0.474143 | 0.105011 | 0.436 | 0.359585 | 0.389815 | 0.356727 | 0 | 1.01314 | -0.028923 | 0 | 0.20944 | 0.466817 | -0.012729 | [
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0.3... | [
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0.408908... |
0.2 | 6 | 0 | 6 | 0 | 0.084451 | 0.177587 | 0.030103 | 0.009819 | -0.007981 | -0.024563 | -0.413464 | -0.186003 | 0.011967 | -0.013495 | -0.307328 | -0.523599 | 0.346012 | 0.408908 | 0.361176 | 0.356727 | 0.329354 | 0.11774 | 0.356727 | 0.943512 | 0.168655 | 0.054238 | 0.297532 | 1.529104 | -1.038303 | 0 | 0.20944 | -0.033413 | 0 | 0.34701 | -0.523599 | 0.436 | 0.286395 | 0.402544 | 0.436 | 0.474143 | 0.105011 | 0.436 | 0.359585 | 0.389815 | 0.356727 | 0 | 1.01314 | -0.028923 | 0 | 0.20944 | 0.466817 | -0.012729 | 0.043633 | 0.197768 | 0.029956 | 0.060996 | -0.008329 | -0.04929 | -0.421132 | -0.177773 | 0.043004 | -0.013553 | -0.373788 | -0.523599 | 0.350644 | 0.420046 | 0.394589 | 0.356727 | 0.307079 | 0.143197 | 0.356727 | 0.875095 | 0.194112 | 0.154194 | 0.224343 | 1.539484 | -0.997501 | 0 | 0.20944 | -0.015911 | 0 | 0.30543 | -0.523599 | 0.436 | 0.29435 | 0.404135 | 0.436 | 0.515511 | 0.100238 | 0.436 | 0.375495 | 0.392997 | 0.356727 | 0 | 1.065646 | -0.043242 | 0 | 0.20944 | 0.466817 | -0.009546 | [
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End of preview. Expand in Data Studio
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
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