---
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.