Woodworking and carpentry
Requirements
A saw, a drill, a sander and a clamp are each worked from the hand, with the business end against a piece of wood ahead. First-person capture keeps the hands and the workpiece in frame, and the two wrist cameras add a closer view of the hands than the head camera alone. 3D hand pose carries a per-joint visibility flag, so a finger hidden behind a handle or a board is flagged rather than guessed.
The site’s skill-spec guide says to name the verb and the noun rather than a broad activity. A spec for this family names the step and the item, such as measure and mark a panel, cut it to the line, drill a pilot hole or sand through the grits, and where one completed step starts and ends, so each can become its own labeled segment.
The catalog describes woodworking rows as sequences: measure and mark, cut, shape, glue and clamp, drill, screw, sand, stain. A policy has to see the order, the tool changes between a saw, a drill and a sander, and the repeat passes. The episode has to carry the whole sequence, not one stroke.
An item is rejected when the manipulated object is out of frame for too much of the episode, when depth is invalid over too much of the manipulation region, or when an undocumented bystander appears. The thresholds are agreed in the spec, so the batch is judged against terms you signed.
Definition
Egocentric woodworking and carpentry video data is first-person video of a person working wood, recorded from the contributor’s own point of view with synchronized sensor streams alongside. The camera sits on the head, close to what a robot’s onboard camera would see while it works a board, a panel or a frame, so the frames show the saw or drill, the wood in front of it, the hands on the handle and the line being followed, rather than a distant view of someone in a workshop. On this site it is a custom collection: you name the task, the tool, the workpiece and the setting, and capture is run to a written skill spec.
The data is human capture. A paid, consented contributor wears the rig and does the task. It is not robot or teleoperation data, and it is not a fixed corpus you download. This page is a different subject from egocentric tool use data, which centres on hand tools such as drivers, clamps and measuring tools, from screwdriving and fastening data, which centres on driving fasteners, and from painting and coating data, which centres on applying a finish with a brush or roller. The subject here is cutting, shaping, joining and finishing wood. It covers what the site states about capturing, labeling and checking those tasks.
People reach this topic through close cousins: woodworking robot training data, a carpentry video dataset, egocentric sawing, sanding and drilling data, or custom woodworking data collection. They describe one request from different angles, and the work is the same: write down the task, collect it on demand, and receive validated episodes. Nothing on this page states that the video carries a wood-species label, a cut-accuracy measurement or a force reading.
Why it matters
A published robot foundation model paper, GR00T N1, linked in the sources below, describes a data pyramid with web data and human video at the base, synthetic data in the middle and real robot trajectories at the top. First-person human video of woodworking sits in that base layer. Human capture does not replace robot data, and this page does not claim that it does.
A woodworking task is a sequence of ordered moves with changing tools. The catalog describes one row as measuring and marking panels, cutting them on the table saw and shaping curves with a jigsaw, and another as gluing and clamping frame joints, drilling pilot holes and screwing the frame together. The order matters, and so do the hands: the site’s tool use page says that grip changes live in finger-level detail that RGB video alone cannot resolve. A clip that shows a saw somewhere near a board does not carry what a policy needs. The hands, the tool and the workpiece have to be present in the episode, and the episode has to say where one step ends and the next begins.
Breadth matters as much as volume. A published model write-up, GEN-0, also linked in the sources, puts it this way: "data quality and diversity matters more than sheer volume." For woodworking that points at the spread of tools, workpieces and steps. A custom collection lets you aim at the step your model is missing, such as drilling a pilot hole or sanding through the grits, rather than hoping a broad collection happens to contain it. This page does not claim that any public corpus lacks woodworking data.
Woodworking tasks
The first table below reproduces all eleven rows of the site’s commercial task catalog for the carpentry and furniture workshop, an environment the catalog describes as a joinery and furniture workshop with saws, sanders and finishing stations. Each row is listed with a skill level, a capture setup and a status exactly as the catalog states them. The rows run from "Woodworking", which cuts, shapes, joins and finishes wood in a workshop setting, to "Wood Cutting", which dimensions and cuts timber with commercial saws and cutting equipment.
Cutting and shaping are the hard rows. "Cut and shape wood panels using a table saw and jigsaw" measures and marks panels, cuts them on the table saw and shapes curves with a jigsaw. "Wood Cutting", "Woodworking" and "Veneer Lamination & Pressing", which cuts veneer sheets, spreads adhesive, positions them on the substrate and presses them flat, are also listed as hard. Four of the hard rows are marked active collection and the veneer row is marked ready to deploy. The word "commercial" appears in the wood-cutting row’s wording, but the site states no sawmill, no industrial production line and no mill capability anywhere, so this page makes no such claim.
Joining and fitting are medium rows. One glues and clamps frame joints, drills pilot holes and screws a furniture frame together. "Commercial Furniture Assembly" assembles furniture units from components using hand and power tools. Two rows install cabinet hardware: one positions hinges with a jig, drills pilot holes and screws hinges and handles onto cabinets, and "Hardware Installation" marks, drills and fits hinges, handles and slides. Sanding and finishing are medium rows too: sanding with an orbital sander through the grits and wiping on stain with rags, sanding panels smooth by machine and hand and filling defects, and "Staining & Finishing", which applies stain, sealer or lacquer and sands between coats.
Carpentry is also named outside that workshop. The active construction site environment lists "Carpentry", which measures, cuts and nails or screws framing, sheathing and trim on site, "Construction / Woodworking", which frames, sheathes and fits timber with hand and power tools, and a row that measures and marks lumber with a tape and cuts it to length with a circular saw. The trades workshop bench lists small bench-scale rows such as "Measure, mark, cut", "Clamp + glue joint" and "Drill pilot + countersink". The second table below reproduces ten of those rows, and they carry different capture setups and statuses from the workshop rows.
The site does not describe a wood species, a board size, a tool model, a joint type or a cut tolerance for any row, so none is stated here. A task outside these rows is settled in a Spec Pilot rather than assumed.
Episodes
Each attempt is delivered as one episode, and a woodworking task needs a decision up front about what one attempt is: one cut, one panel, one joint, one drilled hole, one sanding pass or one measure-to-finish sequence. The site does not set that length, so the skill spec does. Inside the episode, the synchronized streams run from start to end, and action segments divide it into labeled spans.
A cutting episode might open with measuring and marking a panel and close with the last curve shaped, and a sanding episode might run from the first pass of the orbital sander to the wipe-down before finishing, as the catalog rows describe. These are illustrations of how a spec can cut an episode, not stated durations. Whether a joint is one episode or several, and whether the glue-up sits inside the episode or is its own, are spec decisions.
The environments behind these rows are a carpentry and furniture workshop, an active construction site and a trades workshop bench. Which of those apply to your program is set in the spec, along with how many tools, workpieces and steps you want covered. The site lists capture at your own facility as not offered.
Capture setup
A woodworking collection uses the same capture stack as every Firsthand program. The instrumented tier is a head-mounted stereo rig that records first-person RGB, with a metric depth stream recovered from the calibrated stereo rig rather than from a standalone depth sensor, and 6-DoF IMU data at 200 Hz from head- and wrist-mounted sensors. 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-aligned under 2 ms. The two wrist cameras give a closer view of the hands than the head camera alone, which matters where a hand steadies a board or grips a drill.
Every stream is hardware-triggered onto one PTP clock domain, so depth, motion and hand pose line up with the same video frame rather than being approximated afterwards. The rig is calibrated twice per session, before capture starts and after it ends, and an episode is accepted only if RMS reprojection stays under 0.28 px. The catalog lists the capture setup per task: a head-mounted phone or multiview rig for the carpentry workshop and construction site rows, and a multiview rig with handheld grippers for the trades workshop bench rows. The site does not explain the grippers further. Which tier applies to your program is set in the skill spec.
The site does not state a camera count, resolution or frame rate specific to woodworking. Force and tactile readings are not among the streams, no sound-level, vibration or dust sensing is among the ten, and no robot or teleoperation data is captured.
Labels
Inside each episode, action segments divide the recording into start- and end-timestamped spans, each carrying start_ns, end_ns, verb and noun. For this task family a segment can be one step as written in the skill spec, so the table-saw row becomes a run of labeled steps such as measure, mark, cut and shape rather than one long clip, and a finishing row can separate sanding from wiping on stain. The other standard fields are hand_joints and hand_visible for 3D hand pose, contact_events for the moment the hand meets an object, objects, and instance_masks, stored at the depth resolution of 848×480 so they line up with the depth stream.
Hand pose is delivered for both hands with a per-joint visibility flag for occluded fingers. That is the label that carries how the hand sits on a drill, a saw handle or a clamp and how it moves through a pass. The site describes contact events as the moment the hand meets an item, and it does not say whether a saw, a board, a clamp or a marked line counts as the item, so the spec is the place to settle what a contact event means for your task.
The site does not list labels for the wood or the cut itself. There is no stated label for wood species, board or panel dimensions, a cut-line deviation or tolerance, a joint-fit measure, a surface-smoothness grade, or a task-completion score, and no contact force or torque reading. Catalog descriptions such as cutting panels on the table saw or drilling pilot holes describe the task the contributor performs, not a delivered measurement.
Stated limits
Several limits the site already states apply directly to woodworking capture, and several it leaves open. Each stated limit below appears elsewhere on the site rather than being introduced here.
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. The site says depth degrades on wet and reflective surfaces and handles that with per-frame confidence maps. Fresh stain and lacquer leave wet, glossy surfaces, but the site does not say how depth behaves on one in particular, and it says nothing about sawdust in the air or on a surface.
The third is the set of machine-checked reject criteria. An episode is rejected for 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, or a mismatch against the named skill spec. A human reviewer then checks each episode against the task spec. For a woodworking task, the spec decides what the manipulated object is: the tool, the board or the assembly being worked.
The tool use page adds that metric depth on sub-centimetre parts is flagged rather than interpolated. Whether a saw kerf, a drill bit or a screw head counts as such a part is not stated. Also not stated: a mask accuracy figure for blades, bits, boards or clamps, and any description of how a fast-moving tool or a workpiece held in a clamp is handled. If your policy depends on any of those, say so at the start.
QA, consent and safety
Validation runs against signed accept criteria written into the spec before capture. Each batch goes through per-batch QA and a reject log ships with it. Only footage that clears the criteria is billed as a validated hour, and rejected items are recaptured at our cost. Many teams start with a Spec Pilot, a small, fast first batch that proves the spec and the accept criteria on real footage before volume scales.
Every contributor signs a written release before capture, and each delivered episode links to that record through consent artefact IDs in the batch data card. The consent chain has six checkpoints, from before capture to after delivery, and a break at any one discards the footage rather than shipping it at a lower grade. At ingest, automated detection finds faces, plates and screens and blurs them irreversibly, and speech is scrubbed of names, addresses and card numbers while ambient audio is kept. A human reviewer confirms that no un-consented person is identifiable in any frame, and footage that cannot be de-identified is discarded. The anonymization record is delivered with the data.
Workshops and construction sites can have other people nearby. The same rule applies to them as to any capture: an un-consented person who is identifiable in a frame means the footage is de-identified or discarded, so settle bystander handling in the spec for the setting you choose.
On safety and qualification, the site states no contributor safety protocol, no guidance on power-tool guarding, dust, noise or protective equipment, and no safety or trade certification for any woodworking row, and this page does not describe one. The site lists capture at your own facility as not offered. If your program needs terms about who performs the work, the materials used or the conditions under which it is done, raise them when you scope it. None of this is legal advice, and the executed agreement controls.
Delivery and speed
From signed spec to first validated batch, the 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. Speed comes from a warm pipeline, not from cutting consent, review or anonymization. The site does not say whether the woodworking settings count as deep or thin coverage, so ask which timeline applies to the setting you want when you request the quote. After the first batch, on-demand top-ups run against the same accept criteria, so you can add more tools, workpieces or steps without rewriting the spec. The site does not state a turnaround for those later batches, so plan them in your quote.
Delivery is in the format your stack already reads: RLDS, LeRobot, WebDataset, HDF5, zarr or Rerun .rrd, or raw streams with metadata. Readable converter source ships alongside the data so the schema can be retargeted to your own loader. Collections are billed per validated hour.
The license is perpetual, irrevocable and worldwide, with the data buyer-owned and non-exclusive by default. Training, evaluating, fine-tuning and deploying models, including commercial ones, is permitted, and exclusivity is available as a separate term. The executed agreement controls. The site does not publish a price list, a minimum order or a batch size for this task family, so those are set in your quote.
Not stated
Where this site does not state something, this page says "not stated" rather than filling the gap. The table below separates what is delivered from what is not stated. There is no listed label for wood species, dimensions, cut accuracy or joint fit, no force or tactile stream, no tool model or workpiece specification, and no sawmill or industrial production claim. Metal fabrication and welding rows sit in their own catalog environments and are not covered here. Nothing here claims a training outcome or a model improvement.
The tradeoff to plan for is the embodiment gap between a human holding a saw, drill or sander and a robot platform working a board, which retargeting or pairing with robot data has to close. Counts of contributors, hours and tasks are set in your skill spec.
Getting started
Describe the tools, the workpieces, the setting and the variation or failure cases your pipeline is missing. That becomes a written skill spec, quoted for reach, timeline and price before any capture begins, and most programs run a Spec Pilot first. The scoping checklist below maps the parts of a skill spec onto a woodworking request. A published sample recording is on the sample data outputs page if you want to see the streams before you write a spec.
Three choices matter most for this family. Name the step and the tool rather than a broad activity, because that is what lets each step become one action segment. Name the setting and the capture tier, since the carpentry workshop, the construction site and the workshop bench are listed with different capture setups for some rows. And name where the episode starts and stops: one cut, one joint, one panel or one full measure-to-finish sequence, since the site does not set an episode length.
Capture setup
| Part | As stated on this site |
|---|---|
| Instrumented rig | Head-mounted stereo rig worn by the contributor; first-person RGB |
| Streams | Ten: 4K head camera, two wrist cameras, depth, IMU, 3D hand and body pose, instance segmentation, action labels |
| Sync | Hardware-triggered onto one PTP clock domain; aligned under 2 ms |
| Depth | Metric depth recovered from the calibrated stereo rig; per-frame confidence maps are shipped; degrades on wet and reflective surfaces |
| IMU | 6-DoF at 200 Hz from head- and wrist-mounted sensors |
| Calibration | Twice per session; accepted only under the 0.28 px RMS reprojection gate |
| Masks | Per-frame instance masks where the spec calls for them, stored at 848×480 |
| Catalog capture setup | Head-mounted phone or multiview rig for the carpentry workshop and construction site rows; multiview rig with handheld grippers for the trades workshop bench rows |
Every collection runs through the same seven-stage end-to-end custom collection pipeline.
Task variations
| Task (as listed) | Description (as listed) | Environment | Skill level | Capture setup | Status |
|---|---|---|---|---|---|
| Woodworking | Cutting, shaping, joining and finishing wood in a workshop setting. | Carpentry & Furniture Workshop | Hard | Phone (head-mounted) / multiview rig | Active collection |
| Wood Cutting | Dimensioning and cutting timber with commercial saws and cutting equipment. | Carpentry & Furniture Workshop | Hard | Phone (head-mounted) / multiview rig | Active collection |
| Cut and shape wood panels using a table saw and jigsaw | Measure and mark panels, cut them on the table saw and shape curves with a jigsaw. | Carpentry & Furniture Workshop | Hard | Phone (head-mounted) / multiview rig | Active collection |
| Veneer Lamination & Pressing | Cut veneer sheets, spread adhesive, position them on the substrate and press them flat. | Carpentry & Furniture Workshop | Hard | Phone (head-mounted) / multiview rig | Ready to deploy |
| Assemble and join furniture frames using wood glue, clamps, and a drill | Glue and clamp frame joints, drill pilot holes and screw the furniture frame together. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Active collection |
| Commercial Furniture Assembly | Assembling commercial furniture units from components using hand and power tools. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Active collection |
| Drill and install cabinet hardware using a drill and hinge jig | Position hinges with a jig, drill pilot holes and screw hinges and handles onto cabinets. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Active collection |
| Hardware Installation | Mark, drill and fit hinges, handles and slides onto cabinets and furniture. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Ready to deploy |
| Sand and finish wood surfaces using an orbital sander and stain rags | Sand surfaces with an orbital sander through the grits and wipe on stain with rags. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Active collection |
| Sanding & Surface Prep | Sand panels smooth by machine and hand, fill defects and wipe off dust before finishing. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Ready to deploy |
| Staining & Finishing | Apply stain, sealer or lacquer with rags, brushes or spray gun and sand between coats. | Carpentry & Furniture Workshop | Medium | Phone (head-mounted) / multiview rig | Ready to deploy |
Neighbouring rows
| Task (as listed) | Description (as listed) | Environment | Skill level | Capture setup | Status |
|---|---|---|---|---|---|
| Carpentry | Measure, cut and nail or screw framing, sheathing and trim on site. | Active Construction Site | Hard | Phone (head-mounted) / multiview rig | Active collection |
| Construction / Woodworking | Frame, sheathe and fit timber on an active construction site with hand and power tools. | Active Construction Site | Hard | Phone (head-mounted) / multiview rig | Active collection |
| Measure and cut lumber using a tape measure and circular saw | Measure and mark lumber with a tape and cut it to length with a circular saw. | Active Construction Site | Medium | Phone (head-mounted) / multiview rig | Active collection |
| Measure, mark, cut | Measure, mark a line, and saw to it. | Trades Workshop Bench | Medium | Multiview rig + handheld grippers | Available on request |
| Clamp + glue joint | Glue and clamp a joint square. | Trades Workshop Bench | Medium | Multiview rig + handheld grippers | Available on request |
| Drill pilot + countersink | Drill a pilot hole and countersink. | Trades Workshop Bench | Medium | Multiview rig + handheld grippers | Available on request |
| Drive screws with driver | Drive screws with a power driver. | Trades Workshop Bench | Medium | Multiview rig + handheld grippers | Available on request |
| Assemble flat-pack | Assemble a panel unit with cam locks. | Trades Workshop Bench | Medium | Multiview rig + handheld grippers | Available on request |
| Hang a fixture | Level, mark, and screw-mount a fixture. | Trades Workshop Bench | Medium | Multiview rig + handheld grippers | Available on request |
| Sand + wipe surface | Sand a surface and wipe clean. | Trades Workshop Bench | Easy | Multiview rig + handheld grippers | Available on request |
Where woodworking is named
| Where | Wording on the site | What it tells you |
|---|---|---|
| Commercial task catalog: carpentry workshop | "Woodworking": "Cutting, shaping, joining and finishing wood in a workshop setting."; the environment lists saws, sanders and finishing stations | Eleven rows from cutting to finishing |
| Commercial task catalog: construction site | "Carpentry" and "Construction / Woodworking"; the environment lists carpentry among its trades | Framing, sheathing, trim and timber fitting on site |
| Commercial task catalog: trades workshop bench | "Measure, mark, cut", "Clamp + glue joint", "Drill pilot + countersink"; the environment lists a drill, saw and clamps | Bench-scale rows, available on request |
| Egocentric tool use data page | Driver and bit selection, clamp-and-align, measuring, fastening and tool hand-off | The neighbour; cutting, sanding and finishing wood are not named there |
| Egocentric painting and coating data page | Staining, sealing and sanding between coats, as the catalog words them | The neighbour for the finishing step |
| Dataset pages | No woodworking skill is listed | Woodworking is a custom-collection request, not a stated dataset skill |
| Wood species, tool model, cut tolerance, sawmill or industrial production | Not stated | Settled in the skill spec; not claimed here |
Streams and labels
| Stream or label | What it gives a woodworking episode | Status |
|---|---|---|
| Head and wrist cameras | First-person view of the task plus a closer view of the hands | Delivered |
| Depth with confidence maps | Workpiece geometry, with a confidence map to mask low-confidence regions | Delivered |
| 6-DoF IMU at 200 Hz | Head and wrist motion aligned to the video frame | Delivered |
| 3D hand and body pose, with per-joint visibility flags for the hands | Both hands across the step and the body’s movement; occluded fingers flagged | Delivered |
| Contact events | The moment the hand meets an item | Delivered |
| Action segments (start_ns, end_ns, verb, noun) | One labeled span per step | Delivered |
| Per-frame instance masks (848×480) | Masks where the spec calls for them | Delivered where specified |
| Consent artefact IDs and anonymization record | Provenance per episode | Delivered |
| Wood species or material grade | Not listed | Not stated |
| Workpiece dimensions, cut-line deviation or tolerance | Not listed | Not stated |
| Joint-fit or surface-smoothness grade | Not listed | Not stated |
| Contact force, torque or tactile readings | Not among the listed streams | Not stated |
| Power-tool safety, dust or noise data, and certification | Not among the listed streams | Not stated |
| Robot or teleoperation data | Human first-person demonstrations only | Not captured |
| Counts of contributors, hours and tasks | Set per program in the skill spec | Not stated |
Scoping checklist
| Skill-spec part | What to name for a woodworking request | Drawn from what the site states |
|---|---|---|
| Named skill | The verb and the noun: cut a panel on the table saw, drill a pilot hole or sand through the grits, not "woodworking" | Catalog wording such as "Measure and mark panels, cut them on the table saw and shape curves with a jigsaw." |
| Geometry that must be visible | What must be in frame and for how long: both hands, the tool, the workpiece | Set in the skill spec |
| Condition budget in hours | Hours per condition cell, including tools, workpieces and failure cases | Set per program in the skill spec |
| Reject rule | The conditions that fail an item, written first | 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 |
| Acceptance test | One test that decides whether an attempt counts as complete | Your acceptance test is agreed in the spec |
| Setting and capture tier | Carpentry workshop, construction site or workshop bench, and phone or multiview rig | The catalog lists a capture setup per row |
| Episode boundary | One cut, one joint, one panel or one measure-to-finish sequence | Set in the skill spec; the site does not state an episode length |
| Participants and lighting | Handedness, technique and pace; daylight or low light | Set per program in the skill spec |
FAQ
Sources
Tell us the tools, the workpieces and the settings your model needs to see. We will quote reach, timeline and price against a written spec, with a first validated batch in a median of 48 hours where coverage is deep.