Egocentric Clamp and Glue Joint Data

Egocentric clamp and glue joint data is first-person video of a person gluing and clamping a joint square, recorded from their own point of view with synchronized sensor streams alongside. The task wording comes from one catalog row, "Clamp + glue joint", which the catalog describes as "Glue and clamp a joint square." This page repeats that description as written and adds nothing to it. The data is human capture: a paid, consented contributor performs the task to a written skill spec. It is not robot or teleoperation data, and it is not a fixed corpus you download.

People reach this topic through several phrasings: egocentric glue-up data, first-person wood clamping video, a clamp and glue joint dataset, or custom woodworking bench data collection. They describe one request from different angles. Under each of them the work is the same: write down the task, collect it on demand, and receive validated episodes with the labels a training pipeline expects. Nothing on this page states that the video carries a joint-type label, a glue-line measurement or a squareness reading.

One row names the task. In the task catalog, the Trades Workshop Bench environment, in the Construction & Trades sector, lists "Clamp + glue joint" with the description "Glue and clamp a joint square." It is rated Medium, its capture mode is Multiview rig + handheld grippers, and its status is Available on request, meaning the work is scoped and recruited to spec when a buyer asks. The environment is described as a "Workshop bench with hand and power tools: wrenches, drivers, drill, saw, clamps, fasteners".

Other rows in the same environment include "Measure, mark, cut", "Drill pilot + countersink", "Drive screws with driver", "Assemble flat-pack", "Hang a fixture" and "Sand + wipe surface". The first table below gives the glue-and-clamp rows exactly as the catalog states them. This page claims no delivered hours for any row.

Two rows in the Carpentry & Furniture Workshop mention the same materials inside a longer job. "Assemble and join furniture frames using wood glue, clamps, and a drill" reads "Glue and clamp frame joints, drill pilot holes and screw the furniture frame together." It is rated Medium, listed with Phone (head-mounted) / multiview rig, and its status is Active collection. "Veneer Lamination & Pressing" reads "Cut veneer sheets, spread adhesive, position them on the substrate and press them flat." It is rated Hard, listed with Phone (head-mounted) / multiview rig, and its status is Ready to deploy.

These are whole jobs, not the glue-and-clamp step on its own, and they carry different capture modes and statuses from the Trades Workshop Bench row. They are context only. Check the status of any nearby row before relying on it. The Clamp + glue joint row is Available on request, not Active collection or Ready to deploy.

The woodworking page is organized around a trade: it reproduces all eleven carpentry and furniture workshop rows and lists neighbouring bench and construction rows, including this one. The adhesive and sealant page cuts across two environments and keeps four bead, paste, caulk and glue rows, of which Clamp + glue joint is one. The veneer page covers one Hard row about cutting sheets, spreading adhesive and pressing them flat. The furniture assembly page covers flat-pack, furniture frames and commercial furniture units. This page keeps a single row, Clamp + glue joint, and looks at what a capture of it needs. The comparison table below sets them side by side.

For a whole trade, start from the woodworking page. For the application of a bead or paste, start from the adhesive page. For the glue-and-clamp step itself, start here.

The row bundles three actions in one description: glue, clamp and square. A spec has to say which of those steps it needs, in what order, and where each one starts and ends, so each can become its own labeled segment. The site states no joint type, glue type, clamp type, squareness tolerance or open time, so none is claimed here.

Two limits the site already states apply. Hand occlusion is the first: fingers disappear behind objects in manipulation, which is why 3D hand pose carries a per-joint visibility flag. Depth is the second: it degrades on wet and reflective surfaces, and per-frame confidence maps mask the low-confidence regions rather than hiding them. Whether a clamp hides the joint, how depth behaves on wet glue and how a clamped workpiece is handled are not stated for this row. If your policy depends on any of those, say so at the start.

An episode is also rejected if the manipulated object is out of frame for more than 15 percent of it, so the spec decides what the manipulated object is: the joint, a clamp or the assembly being worked. The catalog capture mode for the row is a multiview rig with handheld grippers, which the site describes as a staged working set where the operator performs the task with handheld grippers, so demonstrations map onto a robot end effector.

The catalog lists one capture mode for the row: a multiview rig with handheld grippers. The site describes that mode as a staged working set recorded by a multiview rig while the operator performs the task with handheld grippers. The site does not explain the grippers further and does not state a camera count for the row. The site states that Firsthand does not capture at a customer’s own facility.

The instrumented tier is a head-mounted stereo rig worn by the contributor, with first-person RGB and metric depth recovered from the calibrated stereo rig. The wider stack is ten streams: a 4K head camera, two wrist cameras, depth, IMU, 3D hand and body pose, instance segmentation and action labels, hardware-triggered onto one PTP clock domain and aligned under 2 ms, with 6-DoF IMU data at 200 Hz. The rig is calibrated twice per session, and an episode is accepted only if RMS reprojection stays under 0.28 px. Which tier applies to this row is not stated and is confirmed in the skill spec.

This is an egocentric page. The catalog does not list stereo capture for the Clamp + glue joint row, and this page does not describe the task as stereo capture.

Each attempt is delivered as one episode. The site does not set an episode length, so the skill spec decides what one attempt is: one joint, one glue-up, one clamping step or the whole run from glue to a clamped, squared joint. Inside the episode, the synchronized streams run from start to end, and action segments divide it into labeled spans. Whether the glue-up stands alone, as it does in this row, or sits inside a longer job, as it does in the furniture frame row, is a spec decision.

The standard fields are action segments with start_ns, end_ns, verb and noun; hand_joints and hand_visible for 3D hand pose on both hands, with a per-joint visibility flag; contact_events for the moment a hand meets an object; an objects list; and per-frame instance masks stored at the depth resolution of 848×480. The site does not say whether a clamp or a glued part counts as the item in a contact event, so the spec settles it.

Validation runs against signed accept criteria written into the spec before capture, and a reject log ships with each batch. Episodes are machine-checked against reject criteria, including a sync breach beyond the ceiling for more than three consecutive frames, calibration drift beyond tolerance, the manipulated object out of frame for more than 15 percent of the episode, more than 35 percent invalid depth pixels in the manipulation region, an undocumented bystander and a mismatch against the skill spec. A human reviewer then checks each episode. Only footage that clears the criteria is billed as a validated hour, and rejected items are recaptured at our cost.

Delivery is in the format your stack already reads: RLDS, LeRobot, WebDataset, HDF5, zarr or Rerun .rrd, or raw streams with metadata, with readable converter source alongside. The license is perpetual, irrevocable and worldwide, buyer-owned and non-exclusive by default, with exclusivity available as a separate term. The executed agreement controls.

Every contributor signs a written release, and each delivered episode links to it through consent artefact IDs in the batch data card. At ingest, automated detection finds faces, plates and screens and blurs them irreversibly. Speech is scrubbed of names, addresses and card numbers. A human reviewer confirms that no un-consented person is identifiable in any frame, footage that cannot be de-identified is discarded, and the anonymization record ships with the data.

Bench work can put printed text in view, such as a label on a part or a product. Whether a part or product label is blurred is not stated, so it is agreed in the spec. A workshop can have other people nearby, and an undocumented bystander is a reject criterion. The site states no contributor safety protocol, no guidance on tool guarding, dust, noise or protective equipment, and no safety or trade certification for any woodworking row, and this page does not describe one.

Where this site does not state something, this page says "not stated" rather than filling the gap. There is no listed label for joint type, glue type, clamp type, wood, dimensions, squareness or joint quality, no force or tactile stream, and no stated cycle time, defect rate or success rate for the row. Counts of contributors, episodes and hours are set in your skill spec. Nothing here claims a training outcome or a model improvement.

The tradeoff to plan for is the embodiment gap between a human gluing and clamping a joint and a robot platform doing it, which retargeting or pairing with robot data has to close. The site does not claim that human capture replaces robot data.

The site’s dataset pages list no woodworking or glue-joint skill, so this is custom collection. It runs as custom collection at scale through a network of thousands of capture providers, for a consistent, recurring data flow to labs. This page does not state a provider count, hours or throughput beyond what the site already states.

Because the row is Available on request, the work is scoped and recruited to your spec rather than pulled from a library of existing hours. If you also need the whole furniture frame job, the nearby rows are listed with their own statuses in the first table.

From signed spec to first validated batch, the published timeline is a median of 48 hours where coverage is deep and three to four weeks where it is thin and contributors need to be recruited first. The site does not say which applies to the trades workshop bench, so the range that applies is confirmed when the spec is quoted. At program level, a pilot runs two to three weeks to first delivery and a standing program reaches full rate in four to six weeks.

Describe the steps you need, their order, what counts as a finished joint and what the camera must see. That becomes a written skill spec, quoted for reach, timeline and price before capture. Most programs begin with a Spec Pilot, a small, fast first batch that proves the spec before volume scales. Collections are billed per validated hour.