---
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