---
pretty_name: Bihoi data samples
size_categories:
- n<1K
tags:
- bihoi
- hand-object-interaction
- bimanual-manipulation
- 3d
- mano
- motion-capture
---

# Bihoi data samples

This release is a **100-sequence subset of the full BIHOI dataset**,
covering bimanual hand–object interactions across 18 object categories.
88,570 frames at 30 fps, interpolated from 10 fps pose estimates.

## Download

```bash
hf download YFEI002/Bihoi-data-samples --repo-type dataset --local-dir ./bihoi
cd bihoi
sha256sum -c SHA256SUMS
unzip BIHOI_100_standard_hoi_exports.zip
```

## Format

Each sequence is stored in `fwd_capture/<dataset>/<take>/standardized_hoi_30fps/`.

| File | Contents |
| --- | --- |
| `mano_left.npz`, `mano_right.npz` | MANO `global_orient` (T×3), `hand_pose` (T×45), `transl` (T×3), `betas` (10). |
| `obj_pose.npz` | Object `trans` (T×3), `quat` (T×4, wxyz). |
| `object_mesh.ply` | Canonical object mesh. |
| `frames.npy`, `source_frame_ids.npy`, `timestamps_sec.npy` | Frame indices, source-frame mapping and timestamps. |
| `metadata.json`, `table.json`, `README.md` | Sequence metadata, estimated table plane and format notes. |

Units: meters and radians. Coordinates: right-handed, +Z up, tabletop at Z=0.
MANO poses use axis-angle with `flat_hand_mean=True`.
Object poses transform the supplied mesh into world coordinates.

`sequences.csv` lists all sequences and frame counts; `SHA256SUMS` provides file checksums.
MANO model weights and RGB videos are not included.