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README_en.md

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+---
+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` (10,694,426,624 bytes ≈ 9.96 GiB)
+- Files: 18,940
+- 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 | 18,915 × `.png` + 5 × `.mp4` |
+| Other assets | 3 × `.json`, 6 × `.txt`, 5 × `.npy`, 1 × `.raw` |
+| Archive size | 10.7 GB (10,694,426,624 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` | 5,567 | ✅ |
+| `right_hand_rgb_frames` | 3,091 | ✅ |
+| `head_zed_right_frames` | 2,631 | ✅ |
+| `left_hand_rgb_frames` | 2,565 | ✅ |
+| `head_zed_left_frames` | 2,548 | ✅ |
+| `head_global_rgb_frames` | 2,524 | ✅ |
+
+Frames are named `frame_%06d.png` (zero-based, contiguous) and align by index with the MP4 in the same view directory.
+
+---
+
+## 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
+# integrity check (no output errors = OK)
+unzip -t cap.zip
+
+# extract -> cap/
+unzip -q cap.zip
+
+du -sh cap
+```
+
+Expected:
+
+```
+cap/
+├── hdf5/      (5 .hdf5 files)
+└── raw_data/  (18,935 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 file size is exactly **10,694,426,624 bytes**; 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/`.