Stereo Cabinet Hardware Installation Data

It is first-person video of a person fitting hardware onto a cabinet or a piece of furniture: marking the position, setting a hinge with a jig, drilling pilot holes and screwing hinges and handles on, or fitting hinges, handles and slides. It is recorded from their own point of view with two calibrated cameras, with hand pose and sensor streams alongside. Stereo describes the capture, and MCAP describes the container. They are separate choices.

The site does not state that stereo is already running on these rows. The catalog lists a head-mounted phone with a multiview rig as their capture setup, so a stereo pair is a capture choice agreed in the skill spec and confirmed on a Spec Pilot. The data is human capture by paid, consented contributors, not robot or teleoperation data, so using it for a specific robot still needs your own retargeting step. Firsthand is not affiliated with Foxglove or the MCAP maintainers.

Two, both in the Carpentry & Furniture Workshop environment of the Manufacturing & Workshops sector. "Drill and install cabinet hardware using a drill and hinge jig" is described as "Position hinges with a jig, drill pilot holes and screw hinges and handles onto cabinets." "Hardware Installation" is described as "Mark, drill and fit hinges, handles and slides onto cabinets and furniture." Both are rated Medium.

They differ in status: the hinge jig row is listed as Active collection and Hardware Installation as Ready to deploy. The catalog does not define either status further, and the site says nothing about delivered hours or delivered stereo footage for either row, so this page claims none. The only tools the first row names are a drill and a hinge jig, and the second names no tool. The first table below reproduces the rows as the catalog states them.

The egocentric cabinet hardware installation page covers these two rows as first-person catalog capture, with no stereo or MCAP treatment. The stereo furniture assembly page covers two furniture assembly rows, both Active collection. The stereo handyman and home repair page covers four On-Site Home Repair rows, all Available on request. The stereo carpentry and framing page covers five carpentry rows across two environments, and neither cabinet hardware row is among them.

This page is the stereo and MCAP treatment of the two cabinet hardware rows only, with its own stream map and failure modes. The second table below sets the pages side by side.

Fitting hardware is close, cluttered work. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so a hinge, the jig that positions it and the hand around both share a frame. The site gives no depth accuracy figure for these rows and no label for hole position, alignment, fit or success, so what a buyer does with that depth is their pipeline question.

A stereo pair adds depth, not a verdict. The site states 1080p per eye for dataset 06, and whether that suffices to see a pilot hole or a screw head at working distance is Not stated, so a spec should check it on a Spec Pilot. The site also states that Firsthand does not capture at a customer own facility.

Fitting a hinge or a handle is two-handed: one hand holds the part or the jig in place while the other drives the drill or the screw. The site states 3D hand pose of 21 joints per hand with a per-joint visibility flag, plus contact and grasp events that mark when fingers meet an object, so each hand has its own record.

The site does not say whether a hinge, a handle, a slide, the jig or the drill counts as the object in a contact event, so settle what an event means for your task in the spec. Wrist cameras give a closer view of the hands, and a multiview rig adds synchronized third-person angles when the spec asks for them.

The drill, the jig and the fingers can cover the exact spot being worked, and the head camera sits close to the work, as close as a robot onboard camera would. The site states that fingers disappear behind panels and tools, which is why each hand joint carries a visibility flag, and that small parts can fall below a depth sensor reliable floor: hand pose stays valid at that range, and metric depth on sub-centimetre parts is flagged rather than interpolated.

Whether a screw head, a hinge screw or a pilot hole counts as such a part is Not stated, and the site gives no minimum object size and no depth figure at working distance. The site also states that depth degrades on wet and reflective surfaces and ships per-frame confidence maps so a buyer can mask rather than guess. How depth behaves on a metal hinge, a handle finish or a drill body in particular is Not stated, and so is the effect of a cabinet door in frame.

The rows name hinges, handles and slides, and the egocentric cabinet hardware page notes that how each is handled differs, so a spec that wants them separated has to name them and ask for them to be labeled as separate steps. The site states no label for hardware type, and no size or count of parts per episode.

What it does state is how small parts are treated in depth: hand pose stays valid and metric depth on sub-centimetre parts is flagged rather than interpolated. Hinge, handle and slide types, screws, bits and pilot hole sizes are Not stated and belong in the written spec.

Tool contact is stated only as contact events that mark when a hand meets an object, and as action segments with a verb and a noun. The site states no force, torque or tactile reading, and the catalog names only a drill and a hinge jig on the first row and no tool on the second.

The catalog rows state no tool-safety rule, and this page states none. Drill and jig models, screws, bits and torque settings are Not stated, so any requirement belongs in the written spec.

The site describes two stereo setups and does not say which one a cabinet hardware order uses. The hard-environments stack is a global-shutter 4K/60 head camera with a 120° lens, two 1080p/60 wrist cameras, a depth sensor at 848×480 and 30 fps, and 200 Hz 6-DoF IMUs. The off-the-shelf stereo head rig, dataset 06, is dual fisheye cameras at 1080p per eye, a 62 mm baseline, per-unit calibration, a 9-axis IMU and hand-tracking output.

Which rig, resolution and streams an order uses is Not stated on the site, and the third table below sets what is stated beside what is not. Intrinsics and extrinsics are re-solved at the start and end of every session, and streams are hardware-triggered onto one clock with a 2.0 ms cross-stream ceiling.

MCAP is an open source container file format for multimodal log data, supporting multiple channels of timestamped pre-serialized data. It is serialization-agnostic, so messages can be Protobuf, DDS (CDR), ROS, JSON and more. Its design is row-oriented and append-only, it stores schemas alongside the data, and it offers an optional index plus optional LZ4 or Zstandard chunk compression.

Reader and writer libraries exist for C++, Go, Python, Rust, Swift and TypeScript, and the mcap CLI can inspect, merge and split files. The foxglove/mcap repository is MIT-licensed; that is the MCAP project licence, not the licence of a Firsthand delivery. The MCAP hub page and the glossary entry cover the format in full.

Firsthand offers MCAP delivery, and dataset 06 is stated as shipping as MCAP. For these rows the site states hand pose, a stereo-derived depth stream with confidence maps, IMU, contact events, action segments, per-frame instance masks and one task instruction per episode elsewhere. What it does not state is which of those are channels in an MCAP file, how they are named, what encoding they use or at what rate.

No topic name, message schema or rate is stated on this page, and none should be assumed. Name the streams that matter in the skill spec and confirm them on a Spec Pilot batch. The fourth table below sets each stream beside what the site states about it.

Hand occlusion is the first risk. The drill, the jig or the fingers cover the spot being worked, which is why each hand joint carries a visibility flag, and a spec can ask for wrist views or a second angle. An episode is rejected when the manipulated object is out of frame for more than 15 percent of it. For cabinet hardware the spec decides what that object is: the hinge, the handle, the slide, the jig or the cabinet.

Invalid depth near the work is the second. An episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid. Calibration is measured at the start and end of every session under a 0.28 px RMS gate, and an episode is rejected for a sync breach beyond the ceiling for more than three consecutive frames, for an undocumented bystander or for a mismatch against the named skill spec. A reject log ships with every batch.

Cabinet or furniture types, hardware brands, part counts, cycle times, tolerances, workshop or customer names and safety certifications are Not stated and are not claimed here. The fifth table below lists the failure modes beside what the site states.

For every delivered episode the site states that faces, plates and screens are blurred irreversibly, that a reviewer confirms the result before anything ships, and that footage that cannot be de-identified is discarded. The anonymization record ships with the data, and an undocumented bystander is a stated reject criterion.

The site does not state a rule specific to a workshop, or to branded hardware or packaging, so this page makes no such claim. Settle it in the spec.

The October 2026 off-the-shelf catalog lists ~324,800 hours across 18 datasets, of which stereo is ~64,800 hours across 9 datasets. No listed dataset names cabinet hardware, hinge or handle installation, and the site does not state that any contains either row.

Stereo cabinet hardware installation in MCAP is therefore custom collection, not an off-the-shelf purchase: custom collection at scale through a network of thousands of capture providers, for a consistent, recurring data flow to labs. Where coverage is deep, the median time from signed spec to first validated batch is a median of 48 hours; where it is thin, turnaround runs three to four weeks. The site does not say which speed applies to these rows, so the timeline is quoted against your spec. Collections are billed per validated hour, and rejected episodes and recaptures are never billed.

Describe the steps and where each starts and ends: marking the position, setting the hinge with a jig, drilling pilot holes, screwing hinges and handles on, or fitting slides. Say whether an episode covers one part or a whole cabinet, since the site does not set an episode length, and name the variation your pipeline is missing. Then name the streams you want in the file, the topic naming and message encoding your reader expects, whether calibration ships inside the file or beside it, and whether MCAP is the only delivery or sits beside RLDS, LeRobot or WebDataset.

Most programs begin with a Spec Pilot, a small first batch that proves the spec and accept criteria on real footage before you scale. The sixth table below shows what each spec element decides.