| --- |
| 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)" |
| extra_gated_prompt: "Access is provided for evaluation only. Please do not redistribute this sample dataset." |
| extra_gated_fields: |
| "Company / Lab": text |
| "Work email": text |
| "Role": text |
| "What are you building?": text |
| "Intended use": text |
| "I agree not to redistribute this sample dataset": checkbox |
| extra_gated_button_content: "Request access" |
| --- |
| |
| # 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: |
| ```bash |
| 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](https://creativecommons.org/licenses/by-nc-nd/4.0/) — evaluation and |
| citation only; no redistribution or commercial use. Full corpus & licensing: https://www.daneeldata.com |
|
|
