Datasets:

daneel-data
/

factory-manipulation-sample-v3

license: cc-by-nc-nd-4.0
pretty_name: Factory Manipulation Sample v3 (Egocentric Stereo)
task_categories:
  - robotics
  - other
tags:
  - egocentric
  - stereo
  - hand-pose
  - manipulation
  - footwear-assembly
  - robotics
size_categories:
  - n<1K
extra_gated_prompt: >-
  This is a private evaluation sample. By requesting access you agree to use it
  for non-commercial research only and not to redistribute it (CC BY-NC-ND 4.0).

factory-manipulation-sample-v3

Egocentric stereo factory hand-manipulation sample for robotics research. Four ~3-minute clips, each a continuous manipulation task captured from a head-mounted stereo RGB camera, with metric 3D 21-keypoint hand pose, 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 7-second preview (v3_preview_clip001_7s.mp4) is included.

Preview

7-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 metric-3D 21-keypoint hand pose (Left/Right), one object per frame. 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 recover the 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 + per-eye 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.