README.md

metadata

pretty_name: dex-foundationpose raw test data
license: other
task_categories:
  - object-detection
  - robotics
tags:
  - foundationpose
  - rgbd
  - realsense
  - screwdriver
  - robot-manipulation

dex-foundationpose raw test data

Raw RGB-D regression datasets for the dex-foundationpose repository.

Files are uploaded as split archive parts to avoid fragile 2GB+ single-file transfers.

• DATA_MANIFEST.tsv
  • maps each archive name to its ordered split parts
• screw_driver_2cams_batch_002_raw.tar.zst.part-*
  • normal daily regression dataset
  • 3 takes
• screw_driver_2cams_occlusion_20260629_172747_raw.tar.zst.part-*
  • occlusion stress-test dataset
  • 3 takes
• SHA256SUMS.txt
  • checksums for the reconstructed archives

Use scripts/download_test_data.sh from the dex-foundationpose repository to download parts, reconstruct the original archives, verify checksums, and extract the datasets.

Each reconstructed archive extracts into a dataset directory expected by dex-foundationpose:

demo_data/
  screw_driver_2cams_batch_002/
  screw_driver_2cams_occlusion_20260629_172747/

Typical take structure:

take_001/
  calibration_2cams.json
  frames.jsonl
  meta.json
  cam0/
    rgb.mp4
    depth/*.png
  cam1/
    rgb.mp4
    depth/*.png

Generated FoundationPose, HaPTIC, and visualization outputs are intentionally not included.