Search is not available for this dataset
timestamp float64 0 15.8 ⌀ | frame_index int64 0 475 ⌀ | episode_index int64 0 0 | index int64 0 475 ⌀ | task_index int64 0 0 ⌀ | observation.state.left_shoulder_pitch float64 -0.9 0.67 ⌀ | observation.state.left_shoulder_roll float64 -0.05 0.42 ⌀ | observation.state.left_shoulder_yaw float64 -0.24 0.11 ⌀ | observation.state.left_elbow float64 -0.9 1.39 ⌀ | observation.state.left_wrist_yaw float64 -0.07 0.1 ⌀ | observation.state.right_shoulder_pitch float64 -0.91 0.68 ⌀ | observation.state.right_shoulder_roll float64 -0.44 0.18 ⌀ | observation.state.right_shoulder_yaw float64 -0.14 0.24 ⌀ | observation.state.right_elbow float64 -0.86 1.33 ⌀ | observation.state.right_wrist_yaw float64 -0.08 0.1 ⌀ | observation.state.lh_WRJ1 float64 -0.43 0.37 ⌀ | observation.state.lh_WRJ2 float64 -0.52 0.17 ⌀ | observation.state.lh_FFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_FFJ2 float64 0 1.09 ⌀ | observation.state.lh_FFJ1 float64 0 0.25 ⌀ | observation.state.lh_MFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_MFJ2 float64 0 1.17 ⌀ | observation.state.lh_MFJ1 float64 0 0.06 ⌀ | observation.state.lh_RFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_RFJ2 float64 0 1.29 ⌀ | observation.state.lh_RFJ1 float64 0 0.13 ⌀ | observation.state.lh_LFJ3 float64 -0.26 0.44 ⌀ | observation.state.lh_LFJ2 float64 0 1.43 ⌀ | observation.state.lh_LFJ1 float64 1.2 1.56 ⌀ | observation.state.lh_THJ5 float64 -0.85 1.01 ⌀ | observation.state.lh_THJ4 float64 0 1.15 ⌀ | observation.state.lh_THJ3 float64 -0.2 0.21 ⌀ | observation.state.lh_THJ2 float64 -0.13 0.48 ⌀ | observation.state.lh_THJ1 float64 -0.05 0 ⌀ | observation.state.rh_WRJ1 float64 -0.42 0.38 ⌀ | observation.state.rh_WRJ2 float64 -0.52 0.17 ⌀ | observation.state.rh_FFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_FFJ2 float64 0 1.26 ⌀ | observation.state.rh_FFJ1 float64 0 0.25 ⌀ | observation.state.rh_MFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_MFJ2 float64 0 1.21 ⌀ | observation.state.rh_MFJ1 float64 0 0.25 ⌀ | observation.state.rh_RFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_RFJ2 float64 0 1.28 ⌀ | observation.state.rh_RFJ1 float64 0 0.28 ⌀ | observation.state.rh_LFJ3 float64 -0.26 0.44 ⌀ | observation.state.rh_LFJ2 float64 0 1.53 ⌀ | observation.state.rh_LFJ1 float64 1.14 1.57 ⌀ | observation.state.rh_THJ5 float64 -0.89 1.01 ⌀ | observation.state.rh_THJ4 float64 0 0.96 ⌀ | observation.state.rh_THJ3 float64 -0.14 0.21 ⌀ | observation.state.rh_THJ2 float64 -0.14 0.45 ⌀ | observation.state.rh_THJ1 float64 -0.17 0 ⌀ | action.left_shoulder_pitch float64 -0.9 0.67 ⌀ | action.left_shoulder_roll float64 -0.05 0.42 ⌀ | action.left_shoulder_yaw float64 -0.24 0.11 ⌀ | action.left_elbow float64 -0.9 1.39 ⌀ | action.left_wrist_yaw float64 -0.07 0.1 ⌀ | action.right_shoulder_pitch float64 -0.91 0.68 ⌀ | action.right_shoulder_roll float64 -0.44 0.18 ⌀ | action.right_shoulder_yaw float64 -0.14 0.24 ⌀ | action.right_elbow float64 -0.86 1.33 ⌀ | action.right_wrist_yaw float64 -0.08 0.1 ⌀ | action.lh_WRJ1 float64 -0.43 0.37 ⌀ | action.lh_WRJ2 float64 -0.52 0.17 ⌀ | action.lh_FFJ3 float64 -0.26 0.44 ⌀ | action.lh_FFJ2 float64 0 1.09 ⌀ | action.lh_FFJ1 float64 0 0.25 ⌀ | action.lh_MFJ3 float64 -0.26 0.44 ⌀ | action.lh_MFJ2 float64 0 1.17 ⌀ | action.lh_MFJ1 float64 0 0.06 ⌀ | action.lh_RFJ3 float64 -0.26 0.44 ⌀ | action.lh_RFJ2 float64 0 1.29 ⌀ | action.lh_RFJ1 float64 0 0.13 ⌀ | action.lh_LFJ3 float64 -0.26 0.44 ⌀ | action.lh_LFJ2 float64 0 1.43 ⌀ | action.lh_LFJ1 float64 1.2 1.56 ⌀ | action.lh_THJ5 float64 -0.85 1.01 ⌀ | action.lh_THJ4 float64 0 1.15 ⌀ | action.lh_THJ3 float64 -0.2 0.21 ⌀ | action.lh_THJ2 float64 -0.13 0.48 ⌀ | action.lh_THJ1 float64 -0.05 0 ⌀ | action.rh_WRJ1 float64 -0.42 0.38 ⌀ | action.rh_WRJ2 float64 -0.52 0.17 ⌀ | action.rh_FFJ3 float64 -0.26 0.44 ⌀ | action.rh_FFJ2 float64 0 1.26 ⌀ | action.rh_FFJ1 float64 0 0.25 ⌀ | action.rh_MFJ3 float64 -0.26 0.44 ⌀ | action.rh_MFJ2 float64 0 1.21 ⌀ | action.rh_MFJ1 float64 0 0.25 ⌀ | action.rh_RFJ3 float64 -0.26 0.44 ⌀ | action.rh_RFJ2 float64 0 1.28 ⌀ | action.rh_RFJ1 float64 0 0.28 ⌀ | action.rh_LFJ3 float64 -0.26 0.44 ⌀ | action.rh_LFJ2 float64 0 1.53 ⌀ | action.rh_LFJ1 float64 1.14 1.57 ⌀ | action.rh_THJ5 float64 -0.89 1.01 ⌀ | action.rh_THJ4 float64 0 0.96 ⌀ | action.rh_THJ3 float64 -0.14 0.21 ⌀ | action.rh_THJ2 float64 -0.14 0.45 ⌀ | action.rh_THJ1 float64 -0.17 0 ⌀ | observation.state listlengths 48 48 ⌀ | action listlengths 48 48 ⌀ |
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End of preview. Expand in Data Studio
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
- 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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