| --- |
| 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 |
| |
| <video controls width="540" src="https://huggingface.co/datasets/daneel-data/factory-manipulation-sample-v3/resolve/main/v3_preview_clip001_7s.mp4"></video> |
| |
| *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. |
|
|
