Datasets:

daneel-data
/

factory-manipulation-sample-v2

license: cc-by-nc-nd-4.0
task_categories:
  - robotics
  - other
tags:
  - manipulation
  - egocentric
  - imu
  - factory
  - shoe-manufacturing
  - bimanual
  - hand-pose
  - mano
size_categories:
  - n<1K
pretty_name: Daneel Data — Factory manipulation hand-pose sample (v2)
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  Access is provided for evaluation only. Please do not redistribute this sample
  dataset.
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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-style keypoints [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-hand valid/flags, and per-frame frame_flags. See handpose_README.md for 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: see intrinsics.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