| ---
|
| 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-stack2
|
|
|
| H1 humanoid + Shadow Hand replay of bimanual book stacking 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**: Bimanual book stacking
|
| - **Episodes**: 1
|
| - **Frames**: 476
|
| - **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](https://github.com/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
|
|
|
