metadata
license: cc-by-4.0
task_categories:
- robotics
tags:
- FlexaTechnologies
- flexa
- manipulation
- lerobot
- h1-humanoid
- shadow-hand
- iphone-lidar
- egocentric
- dexterous-manipulation
size_categories:
- n<1K
flexa-pour1
H1 humanoid + Shadow Hand replay of pouring task 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: Pouring
- Episodes: 1
- Frames: 294
- 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