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Datasets:
FlexaTechnologies
/
flexa-pour1

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
< 1K
Tags:
FlexaTechnologies
flexa
manipulation
lerobot
h1-humanoid
shadow-hand
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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Upload flexa-pour1 LeRobot dataset (294 frames, Pouring)

Browse files
Files changed (8) hide show
  1. README.md +61 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes/0000.parquet +3 -0
  4. meta/info.json +155 -0
  5. meta/stats.json +406 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.ego/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.sim/episode_000000.mp4 +3 -0
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+ ---
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+ license: cc-by-4.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - FlexaTechnologies
7
+ - flexa
8
+ - manipulation
9
+ - lerobot
10
+ - h1-humanoid
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+ - shadow-hand
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+ - iphone-lidar
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+ - egocentric
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+ - dexterous-manipulation
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+ size_categories:
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+ - n<1K
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+ ---
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+
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+ # flexa-pour1
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+
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+ H1 humanoid + Shadow Hand replay of pouring task from iPhone egocentric capture.
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+
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+ ## Pipeline
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+
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+ 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
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+
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+ ## Data
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+
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+ - **Robot**: Unitree H1 + Shadow Hand (48 DOF: 10 arm + 38 finger)
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+ - **Task**: Pouring
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+ - **Episodes**: 1
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+ - **Frames**: 294
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+ - **FPS**: 30
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+ - **Format**: LeRobot v2.1 (Parquet + MP4)
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+
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+ ## Features
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+
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+ | Feature | Shape | Type |
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+ |---------|-------|------|
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+ | `observation.state` | (48,) | float32 |
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+ | `action` | (48,) | float32 |
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+ | `observation.images.sim` | (480, 640, 3) | video |
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+ | `observation.images.ego` | (480, 640, 3) | video |
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+
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+ ## Joint Names (state/action ordering)
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+
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+ 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`
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+
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+ Finger joints: Shadow Hand curl DOFs (WRJ1/2, FFJ1-3, MFJ1-3, RFJ1-3, LFJ1-3, THJ1-5) × left + right
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+
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+ ## Source
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+
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+ - Pipeline: [flexa-tech/flexa-pipeline](https://github.com/flexa-tech/flexa-pipeline)
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+ - Capture: iPhone 15 Pro rear camera with Record3D LiDAR
55
+ - Hand reconstruction: HaMeR (on Modal)
56
+ - Finger retargeting: DexMV
57
+ - IK: Custom Jacobian solver with elbow-out nullspace bias
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+
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+ ## License
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+
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+ CC-BY-4.0
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