Upload flexa-stack2 LeRobot dataset (476 frames, Bimanual book stacking)

README.md

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+---
+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

data/chunk-000/episode_000000.parquet

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+oid sha256:d4aee37fe7d205c21a44c9e3e39040673ad62b99442252decd6a20574533beb3
+size 393525

meta/episodes/0000.parquet

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+oid sha256:7be94460554bea18b896ab643c47ecb95317f70f1b8fb2d6bad8160b2fa1c1d3
+size 1128

meta/info.json

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+{
+  "codebase_version": "v2.1",
+  "data_path": "data/chunk-{chunk:03d}/episode_{episode:06d}.parquet",
+  "video_path": "videos/chunk-{chunk:03d}/{video_key}/episode_{episode:06d}.mp4",
+  "fps": 30.031545741324923,
+  "robot_type": "h1_shadow_hand",
+  "features": {
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+      "names": [
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+        "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",
+        "lh_WRJ1",
+        "lh_WRJ2",
+        "lh_FFJ3",
+        "lh_FFJ2",
+        "lh_FFJ1",
+        "lh_MFJ3",
+        "lh_MFJ2",
+        "lh_MFJ1",
+        "lh_RFJ3",
+        "lh_RFJ2",
+        "lh_RFJ1",
+        "lh_LFJ3",
+        "lh_LFJ2",
+        "lh_LFJ1",
+        "lh_THJ5",
+        "lh_THJ4",
+        "lh_THJ3",
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+        "rh_THJ2",
+        "rh_THJ1"
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+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist_yaw",
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+        "lh_MFJ3",
+        "lh_MFJ2",
+        "lh_MFJ1",
+        "lh_RFJ3",
+        "lh_RFJ2",
+        "lh_RFJ1",
+        "lh_LFJ3",
+        "lh_LFJ2",
+        "lh_LFJ1",
+        "lh_THJ5",
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+        "lh_THJ3",
+        "lh_THJ2",
+        "lh_THJ1",
+        "rh_WRJ1",
+        "rh_WRJ2",
+        "rh_FFJ3",
+        "rh_FFJ2",
+        "rh_FFJ1",
+        "rh_MFJ3",
+        "rh_MFJ2",
+        "rh_MFJ1",
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+  "splits": {
+    "train": "0:476"
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+  "total_episodes": 1,
+  "total_frames": 476,
+  "chunks_size": 1000,
+  "encoding": {
+    "vcodec": "mp4v",
+    "pix_fmt": "yuv420p"
+  }
+}

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meta/tasks.jsonl

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