Datasets:

dex-robot
/

cap

---
license: other
task_categories:
  - robotics
tags:
  - robotics
  - dexterous-manipulation
  - teleoperation
  - motion-capture
  - human-hand
  - imitation-learning
  - hdf5
size_categories:
  - 10GB
---
# CAP — Dexterous Manipulation Capture Dataset (Cups Ordering, Right Hand)

CAP is a **human hand motion capture + dexterous manipulation demonstration** dataset. It records an operator performing the **cups ordering (`cups_order`)** task with the **right hand**. Data is captured with a DexCap-style pipeline and ships both **compressed trajectory HDF5 files** and **raw multi-view camera frames**, ready for motion retargeting, imitation learning, and hand-pose analysis.
- Repo: `dex-robot/cap`
- Main file: `cap.zip` (10,697,737,890 bytes ≈ 9.96 GiB)
- Contents: 18,939 files + 24 directory entries
- SHA256: `f91c11ee1761822fa875d4783c1fd9388f6fa3f0fa3feeef6cd5c20775220c10`
- Capture date: 2026-07-07
- Task: cups ordering
- Hand: right
---
## 1. Overview
| Item | Value |
| --- | --- |
| Task | `cups_order` (ordering cups) |
| Hand | Right |
| Capture date | 2026-07-07 |
| Recordings | 5 (16:46:34 / 16:54:35 / 16:56:54 / 16:59:04 / 17:01:24) |
| Trajectory files | 5 × `.hdf5` (one per recording) |
| Camera views | 6 (left hand / right hand / head stereo / head global RGB / head global depth) |
| Image frames | 18,914 × `.png` + 5 × `.mp4` |
| Other assets | 3 × `.json`, 6 × `.txt`, 5 × `.npy`, 1 × `.raw` |
| Archive size | 10.7 GB (10,697,737,890 bytes) |
---
## 2. Directory Layout
```
cap/
├── hdf5/                                   # one compressed trajectory per recording
│   ├── cups_order_right_hand_20260707_164634/
│   │   └── cups_order_right_hand_20260707_164634.hdf5
│   ├── cups_order_right_hand_20260707_165435/
│   │   └── cups_order_right_hand_20260707_165435.hdf5
│   ├── cups_order_right_hand_20260707_165654/
│   │   └── cups_order_right_hand_20260707_165654.hdf5
│   ├── cups_order_right_hand_20260707_165904/
│   │   └── cups_order_right_hand_20260707_165904.hdf5
│   └── cups_order_right_hand_20260707_170124/
│       └── cups_order_right_hand_20260707_170124.hdf5
└── raw_data/                               # raw multimodal stream (images + video + calibration)
    └── cups_order_right_hand_20260707_164634/
        └── cups_order_right_hand_20260707_164634_extracted/
            └── observe/
                └── vision/
                    ├── left_hand_rgb/            # left wrist view (video + metadata)
                    ├── right_hand_rgb/           # right wrist view
                    ├── head_zed_left/            # head ZED left
                    ├── head_zed_right/           # head ZED right
                    ├── head_global_rgb/          # head global RGB
                    ├── head_global_depth/        # head global depth
                    └── *_frames/                 # extracted PNG sequences per view
```
---
## 3. Recording Sessions
| Session ID | Start time | HDF5 trajectory | Raw frames |
| --- | --- | --- | --- |
| `cups_order_right_hand_20260707_164634` | 16:46:34 | ✅ | ✅ |
| `cups_order_right_hand_20260707_165435` | 16:54:35 | ✅ | — |
| `cups_order_right_hand_20260707_165654` | 16:56:54 | ✅ | — |
| `cups_order_right_hand_20260707_165904` | 16:59:04 | ✅ | — |
| `cups_order_right_hand_20260707_170124` | 17:01:24 | ✅ | — |
> Note: the full multi-view raw frames (18,915 PNG + 5 MP4) are published with the **first session** `164634`; the other four recordings ship as compressed HDF5 trajectories.
---
## 4. Camera Views & Frame Counts
| View directory | PNG frames | Video |
| --- | --- | --- |
| `head_global_depth_frames` | 5,565 | ✅ |
| `right_hand_rgb_frames` | 3,089 | ✅ |
| `head_zed_right_frames` | 2,629 | ✅ |
| `left_hand_rgb_frames` | 2,563 | ✅ |
| `head_zed_left_frames` | 2,546 | ✅ |
| `head_global_rgb_frames` | 2,522 | ✅ |
Frames are named `frame_%06d.png`, but the indices are **not strictly contiguous** (frames were dropped during capture). Always use the sorted filename order; do not assume `i` and `i+1` are adjacent.
### Preview
![Six views overview](preview_overview.png)
![Six views synced GIF](preview_grid.gif)
| Preview file | Content |
| --- | --- |
| `preview_overview.png` | single-frame overview of all 6 views |
| `preview_grid.gif` | all 6 views in sync (24 frames) |
| `preview_right_hand_rgb.gif` | right wrist view |
| `preview_head_global_rgb.gif` | head global RGB |
| `preview_head_global_depth.gif` | head global depth |
---
## 5. Download
### 5.1 huggingface-cli (recommended, resumable)
```bash
pip install -U "huggingface_hub[cli]"
export HF_ENDPOINT=https://hf-mirror.com        # optional mirror for CN networks
huggingface-cli download dex-robot/cap cap.zip --repo-type dataset --local-dir ./cap_data
```
### 5.2 Python
```python
from huggingface_hub import hf_hub_download
p = hf_hub_download("dex-robot/cap", "cap.zip", repo_type="dataset")
print(p)
```
### 5.3 Direct URL
```
https://huggingface.co/datasets/dex-robot/cap/resolve/main/cap.zip
```
---
## 6. Extract & Verify
```bash
# 1) size
stat -c %s cap.zip        # expected: 10697737890
# 2) SHA256
sha256sum cap.zip
# f91c11ee1761822fa875d4783c1fd9388f6fa3f0fa3feeef6cd5c20775220c10
# 3) CRC check (all 18963 entries must report OK)
unzip -t cap.zip
# 4) extract -> cap/
unzip -q cap.zip
du -sh cap
```
Expected:
```
cap/
├── hdf5/      (5 .hdf5 files)
└── raw_data/  (18,934 files)
```
---
## 7. Usage
### 7.1 Read an HDF5 trajectory
```python
import h5py
path = "cap/hdf5/cups_order_right_hand_20260707_164634/cups_order_right_hand_20260707_164634.hdf5"
with h5py.File(path, "r") as f:
    def show(name, obj):
        if isinstance(obj, h5py.Dataset):
            print(f"D {name:50s} shape={obj.shape} dtype={obj.dtype}")
        else:
            print(f"G {name}")
    f.visititems(show)
```
### 7.2 Read image frames
```python
import cv2, glob
frames = sorted(glob.glob(
    "cap/raw_data/cups_order_right_hand_20260707_164634/"
    "cups_order_right_hand_20260707_164634_extracted/observe/vision/"
    "head_global_rgb_frames/frame_*.png"))
print("frames:", len(frames))
img = cv2.imread(frames[0])
print(img.shape)  # (H, W, 3)
```
---
## 8. Recommended Environment
```bash
pip install h5py opencv-python numpy
```
- Python ≥ 3.8
- ~15 GB free disk after extraction (raw PNG sequences are large)
- `head_global_depth` may be 16-bit PNG or accompanied by `.npy` / `.raw` raw depth
---
## 9. License & Citation
- License: see the repo `LICENSE`; contact the publisher if unspecified.
```bibtex
@misc{cap_dataset_2026,
  title  = {CAP: Cups Ordering Dexterous Manipulation Capture Dataset (Right Hand)},
  author = {dex-robot},
  year   = {2026},
  howpublished = {\url{https://huggingface.co/datasets/dex-robot/cap}}
}
```
---
## 10. FAQ
**Q: Download interrupted?**
`huggingface-cli download` resumes automatically — just re-run the same command. Add `--max-workers 1` for a more stable (slower) transfer.
**Q: `unzip` says "End-of-central-directory signature not found"?**
The download is incomplete / truncated. Check that the size is exactly **10,697,737,890 bytes** and the SHA256 matches; if not, re-download.

**Q: I only need trajectories, not the 10 GB of images?**
Currently only the full bundle is published. Open a Discussion if you need a split release.

**Q: How do I align depth with RGB?**
`*_frames` and the MP4 of the same view share frame indices (`frame_%06d`). Cross-view alignment: use the calibration JSON under `raw_data/.../observe/vision/`.

---

## 11. Known Limitations

1. **Frame indices are not contiguous.** Each view's `frame_%06d.png` has gaps (frames dropped during capture) — e.g. `right_hand_rgb_frames` holds 3,089 frames with a max index of 3,746. Use sorted filename order; never infer the next frame as `i+1`.
2. **Raw frames cover the first session only.** Of the 5 recordings, only `164634` ships full multi-view PNG / MP4; the other four provide HDF5 trajectories only.
3. **HDF5 internal layout may evolve across capture versions.** Group / dataset names can differ between recordings — inspect the structure with `visititems` before reading arrays.
4. The archive was recovered from an interrupted packing process and passes CRC verification for all 18,963 entries; one incomplete trailing PNG frame was dropped.

	---
	license: other
	task_categories:
	- robotics
	tags:
	- robotics
	- dexterous-manipulation
	- teleoperation
	- motion-capture
	- human-hand
	- imitation-learning
	- hdf5
	size_categories:
	- 10GB
	---

	# CAP — Dexterous Manipulation Capture Dataset (Cups Ordering, Right Hand)

	CAP is a human hand motion capture + dexterous manipulation demonstration dataset. It records an operator performing the cups ordering (`cups_order`) task with the right hand. Data is captured with a DexCap-style pipeline and ships both compressed trajectory HDF5 files and raw multi-view camera frames, ready for motion retargeting, imitation learning, and hand-pose analysis.

	- Repo: `dex-robot/cap`
	- Main file: `cap.zip` (10,697,737,890 bytes ≈ 9.96 GiB)
	- Contents: 18,939 files + 24 directory entries
	- SHA256: `f91c11ee1761822fa875d4783c1fd9388f6fa3f0fa3feeef6cd5c20775220c10`
	- Capture date: 2026-07-07
	- Task: cups ordering
	- Hand: right

	---

	## 1. Overview

	\| Item \| Value \|
	\| --- \| --- \|
	\| Task \| `cups_order` (ordering cups) \|
	\| Hand \| Right \|
	\| Capture date \| 2026-07-07 \|
	\| Recordings \| 5 (16:46:34 / 16:54:35 / 16:56:54 / 16:59:04 / 17:01:24) \|
	\| Trajectory files \| 5 × `.hdf5` (one per recording) \|
	\| Camera views \| 6 (left hand / right hand / head stereo / head global RGB / head global depth) \|
	\| Image frames \| 18,914 × `.png` + 5 × `.mp4` \|
	\| Other assets \| 3 × `.json`, 6 × `.txt`, 5 × `.npy`, 1 × `.raw` \|
	\| Archive size \| 10.7 GB (10,697,737,890 bytes) \|

	---

	## 2. Directory Layout

	```
	cap/
	├── hdf5/ # one compressed trajectory per recording
	│ ├── cups_order_right_hand_20260707_164634/
	│ │ └── cups_order_right_hand_20260707_164634.hdf5
	│ ├── cups_order_right_hand_20260707_165435/
	│ │ └── cups_order_right_hand_20260707_165435.hdf5
	│ ├── cups_order_right_hand_20260707_165654/
	│ │ └── cups_order_right_hand_20260707_165654.hdf5
	│ ├── cups_order_right_hand_20260707_165904/
	│ │ └── cups_order_right_hand_20260707_165904.hdf5
	│ └── cups_order_right_hand_20260707_170124/
	│ └── cups_order_right_hand_20260707_170124.hdf5
	└── raw_data/ # raw multimodal stream (images + video + calibration)
	└── cups_order_right_hand_20260707_164634/
	└── cups_order_right_hand_20260707_164634_extracted/
	└── observe/
	└── vision/
	├── left_hand_rgb/ # left wrist view (video + metadata)
	├── right_hand_rgb/ # right wrist view
	├── head_zed_left/ # head ZED left
	├── head_zed_right/ # head ZED right
	├── head_global_rgb/ # head global RGB
	├── head_global_depth/ # head global depth
	└── *_frames/ # extracted PNG sequences per view
	```

	---

	## 3. Recording Sessions

	\| Session ID \| Start time \| HDF5 trajectory \| Raw frames \|
	\| --- \| --- \| --- \| --- \|
	\| `cups_order_right_hand_20260707_164634` \| 16:46:34 \| ✅ \| ✅ \|
	\| `cups_order_right_hand_20260707_165435` \| 16:54:35 \| ✅ \| — \|
	\| `cups_order_right_hand_20260707_165654` \| 16:56:54 \| ✅ \| — \|
	\| `cups_order_right_hand_20260707_165904` \| 16:59:04 \| ✅ \| — \|
	\| `cups_order_right_hand_20260707_170124` \| 17:01:24 \| ✅ \| — \|

	> Note: the full multi-view raw frames (18,915 PNG + 5 MP4) are published with the first session `164634`; the other four recordings ship as compressed HDF5 trajectories.

	---

	## 4. Camera Views & Frame Counts

	\| View directory \| PNG frames \| Video \|
	\| --- \| --- \| --- \|
	\| `head_global_depth_frames` \| 5,565 \| ✅ \|
	\| `right_hand_rgb_frames` \| 3,089 \| ✅ \|
	\| `head_zed_right_frames` \| 2,629 \| ✅ \|
	\| `left_hand_rgb_frames` \| 2,563 \| ✅ \|
	\| `head_zed_left_frames` \| 2,546 \| ✅ \|
	\| `head_global_rgb_frames` \| 2,522 \| ✅ \|

	Frames are named `frame_%06d.png`, but the indices are not strictly contiguous (frames were dropped during capture). Always use the sorted filename order; do not assume `i` and `i+1` are adjacent.

	### Preview

	![Six views overview](preview_overview.png)

	![Six views synced GIF](preview_grid.gif)

	\| Preview file \| Content \|
	\| --- \| --- \|
	\| `preview_overview.png` \| single-frame overview of all 6 views \|
	\| `preview_grid.gif` \| all 6 views in sync (24 frames) \|
	\| `preview_right_hand_rgb.gif` \| right wrist view \|
	\| `preview_head_global_rgb.gif` \| head global RGB \|
	\| `preview_head_global_depth.gif` \| head global depth \|

	---

	## 5. Download

	### 5.1 huggingface-cli (recommended, resumable)

	```bash
	pip install -U "huggingface_hub[cli]"
	export HF_ENDPOINT=https://hf-mirror.com # optional mirror for CN networks
	huggingface-cli download dex-robot/cap cap.zip --repo-type dataset --local-dir ./cap_data
	```

	### 5.2 Python

	```python
	from huggingface_hub import hf_hub_download
	p = hf_hub_download("dex-robot/cap", "cap.zip", repo_type="dataset")
	print(p)
	```

	### 5.3 Direct URL

	```
	https://huggingface.co/datasets/dex-robot/cap/resolve/main/cap.zip
	```

	---

	## 6. Extract & Verify

	```bash
	# 1) size
	stat -c %s cap.zip # expected: 10697737890

	# 2) SHA256
	sha256sum cap.zip
	# f91c11ee1761822fa875d4783c1fd9388f6fa3f0fa3feeef6cd5c20775220c10

	# 3) CRC check (all 18963 entries must report OK)
	unzip -t cap.zip

	# 4) extract -> cap/
	unzip -q cap.zip

	du -sh cap
	```

	Expected:

	```
	cap/
	├── hdf5/ (5 .hdf5 files)
	└── raw_data/ (18,934 files)
	```

	---

	## 7. Usage

	### 7.1 Read an HDF5 trajectory

	```python
	import h5py

	path = "cap/hdf5/cups_order_right_hand_20260707_164634/cups_order_right_hand_20260707_164634.hdf5"
	with h5py.File(path, "r") as f:
	def show(name, obj):
	if isinstance(obj, h5py.Dataset):
	print(f"D {name:50s} shape={obj.shape} dtype={obj.dtype}")
	else:
	print(f"G {name}")
	f.visititems(show)
	```

	### 7.2 Read image frames

	```python
	import cv2, glob

	frames = sorted(glob.glob(
	"cap/raw_data/cups_order_right_hand_20260707_164634/"
	"cups_order_right_hand_20260707_164634_extracted/observe/vision/"
	"head_global_rgb_frames/frame_*.png"))
	print("frames:", len(frames))
	img = cv2.imread(frames[0])
	print(img.shape) # (H, W, 3)
	```

	---

	## 8. Recommended Environment

	```bash
	pip install h5py opencv-python numpy
	```

	- Python ≥ 3.8
	- ~15 GB free disk after extraction (raw PNG sequences are large)
	- `head_global_depth` may be 16-bit PNG or accompanied by `.npy` / `.raw` raw depth

	---

	## 9. License & Citation

	- License: see the repo `LICENSE`; contact the publisher if unspecified.

	```bibtex
	@misc{cap_dataset_2026,
	title = {CAP: Cups Ordering Dexterous Manipulation Capture Dataset (Right Hand)},
	author = {dex-robot},
	year = {2026},
	howpublished = {\url{https://huggingface.co/datasets/dex-robot/cap}}
	}
	```

	---

	## 10. FAQ

	Q: Download interrupted?
	`huggingface-cli download` resumes automatically — just re-run the same command. Add `--max-workers 1` for a more stable (slower) transfer.

	Q: `unzip` says "End-of-central-directory signature not found"?
	The download is incomplete / truncated. Check that the size is exactly 10,697,737,890 bytes and the SHA256 matches; if not, re-download.

	Q: I only need trajectories, not the 10 GB of images?
	Currently only the full bundle is published. Open a Discussion if you need a split release.

	Q: How do I align depth with RGB?
	`*_frames` and the MP4 of the same view share frame indices (`frame_%06d`). Cross-view alignment: use the calibration JSON under `raw_data/.../observe/vision/`.

	---

	## 11. Known Limitations

	1. Frame indices are not contiguous. Each view's `frame_%06d.png` has gaps (frames dropped during capture) — e.g. `right_hand_rgb_frames` holds 3,089 frames with a max index of 3,746. Use sorted filename order; never infer the next frame as `i+1`.
	2. Raw frames cover the first session only. Of the 5 recordings, only `164634` ships full multi-view PNG / MP4; the other four provide HDF5 trajectories only.
	3. HDF5 internal layout may evolve across capture versions. Group / dataset names can differ between recordings — inspect the structure with `visititems` before reading arrays.
	4. The archive was recovered from an interrupted packing process and passes CRC verification for all 18,963 entries; one incomplete trailing PNG frame was dropped.