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factory-manipulation-sample-v2
Egocentric factory hand-manipulation sample for robotics research. Three ~60-second clips, each a continuous, idle-trimmed manipulation task captured from a head-mounted camera, with timestamped 21-keypoint hand pose, head IMU, and a natural-language description. Private evaluation sample — not for redistribution.
Packaged as a single archive:
hf download daneel-data/factory-manipulation-sample-v2 factory-manipulation-sample-v2.tar.gz --repo-type dataset --local-dir .
tar -xzf factory-manipulation-sample-v2.tar.gz # -> factory-manipulation-sample-v2/{clip_001,clip_002,clip_003}/
Per-clip files
video.mp4— RGB egocentric video, 1640×1232, 30 fps (PII-safe: faces blurred where present).video_handpose.mp4— same video with the 21-keypoint hand skeleton drawn + a QC HUD.handpose.jsonl— per-frame hand pose. HaMeR (MANO), one JSON object per frame. Each hand: COCO-stylekeypoints[x,y,v](v: 2=visible, 1=low-confidence/inferred),keypoints_world_m+keypoints_cam_m(3D, meters),mano(axis-angle pose/shape),bbox(COCO xywh), per-handvalid/flags, and per-frameframe_flags. Seehandpose_README.mdfor the full schema and the accuracy/validity flags.handpose_qc.csv— per-frame quality flags for quick filtering.handpose_README.md— annotation data card (schema + how to use the flags).head_imu.csv— head IMU (accel + gyro), ~200 Hz, on the same continuous timeline. Columns:t_ms(continuous ms),accel_{x,y,z}(g),gyro_{x,y,z}(deg/s). For SI: accel × 9.80665 → m/s², gyro × π/180 → rad/s. Frame: seeintrinsics.json→head_imu.intrinsics.json— shared fisheye camera calibration (1640×1232: fx/fy/cx/cy, k1–k4) and the camera + head-IMU coordinate-frame conventions. Same calibration for all clips.language_annotation.json— action label + natural-language task description.metadata.json— clip-level metadata (action, fps, resolution, modalities, PII status).
License
CC BY-NC-ND 4.0 — evaluation and citation only; no redistribution or commercial use. Full corpus & licensing: https://www.daneeldata.com
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