H1 humanoid + Shadow Hand replay of pick-and-place manipulation from iPhone egocentric capture.
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
Robot: Unitree H1 + Shadow Hand (48 DOF: 10 arm + 38 finger)
Task: Pick and place
Episodes: 1
Frames: 690
FPS: 30
Format:… See the full description on the dataset page:
https://huggingface.co/datasets/FlexaTechnologies/flexa-picknplace1.
