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Datasets:
daneel-data
/
factory-manipulation-sample-v3

Tasks:
Robotics
Other
Modalities:
Video
Size:
< 1K
Tags:
egocentric
stereo
hand-pose
manipulation
footwear-assembly
robotics
Libraries:
Datasets
License:
Dataset card Data Studio Files
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factory-manipulation-sample-v3

Egocentric stereo factory hand-manipulation sample for robotics research. Four ~3-minute clips, each a continuous footwear-assembly task captured from a head-mounted stereo RGB camera, with metric 3D 21-keypoint hand pose (triangulated across the two eyes), head IMU, stereo calibration, and a natural-language task description. No faces are present (no_faces_present).

Packaged as a single archive factory-manipulation-sample-v3.zip — download and extract: hf download daneel-data/factory-manipulation-sample-v3 factory-manipulation-sample-v3.zip --repo-type dataset A 3-second preview (v3_preview_clip001_3s.mp4) is included.

Preview

3-second preview (clip_001): egocentric stereo with metric-3D 21-keypoint hand pose (blue=Left, green=Right). Inline playback requires dataset access (gated).

Per-clip files

  • left.mp4, right.mp4 — synchronized stereo RGB, 2000×1200 per eye @ 60 fps, H.264. Upright.
  • handpose.jsonl — per-frame hand pose: WiLoR per eye + stereo triangulation → metric 3D. Handedness from WiLoR's detector (per-frame, no tracker). See handpose_README.md for the schema.
  • handpose_overlay.mp4 — left eye with the 21-keypoint skeleton drawn (blue=Left, green=Right) + depth (QC aid).
  • calibration.json — stereo calibration: per-eye intrinsics + distortion, stereo extrinsics (R/T, 60 mm baseline), and rectification (R1/R2/P1/P2/Q). Used to triangulate metric 3D. Shared across clips (same rig).
  • head_imu.csv — head IMU (6-axis), ~600 Hz, on the t_ms master clock. Columns t_ms, video_frame, ax, ay, az, gx, gy, gz (accel m/s², gyro rad/s), rotated to the upright frame.
  • frame_index.jsonl — per-frame exposure timestamps (re-based to 0), the video↔IMU alignment key.
  • language_annotation.json — action label + natural-language task description.

Notes

  • Metric 3D: use keypoints_3d_m from source == "stereo" hands. mono hands (one-eye-only) carry 2D + WiLoR wrist-relative 3D but no metric depth.
  • Occlusion is honest — hands occluded in both eyes are absent for that frame, never fabricated.
  • Known gaps: the camera↔IMU extrinsic is not available, so the IMU coordinate frame is the documented assumption (see head_imu); clip_004's IMU/frame_index sidecars are short on the final ~4 s (the video and hand pose cover all frames).

License: CC BY-NC-ND 4.0.
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