| 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`: | |
| ```text | |
| demo_data/ | |
| screw_driver_2cams_batch_002/ | |
| screw_driver_2cams_occlusion_20260629_172747/ | |
| ``` | |
| Typical take structure: | |
| ```text | |
| 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. | |