Stereo Caulking and Sealing Data

It is first-person video of a person doing the caulking work the catalog lists, recorded from their own point of view with two calibrated cameras and 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 this row. The catalog lists a multiview rig with handheld grippers as the capture setup, and 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. Firsthand is not affiliated with Foxglove or the MCAP maintainers.

The egocentric adhesive and sealant application page covers four bead, paste and glue rows across two environments, with caulk as one of them, and it does not cover stereo or MCAP. The stereo surface finishing page covers nine sanding, drywall and painting rows, and the stereo drywall page covers drywall installation and finishing. Neither lists the caulk row.

This page covers only the caulk row, and only the two layers on top of it: a calibrated stereo pair for depth, and MCAP as the container. It states no sealant type, cure time, bead size, joint spec, standard or certification, because the site states none.

One. "Apply + tool caulk" is in the Trades Workshop Bench environment under the Construction & Trades sector, described as "Run a caulk bead and tool it smooth." It is rated Medium, listed as Available on request and listed with a multiview rig plus handheld grippers. The environment is described as a workshop bench with hand and power tools: wrenches, drivers, drill, saw, clamps, fasteners. The first table below reproduces the row and its neighbours as the catalog states them.

The task steps on this page are the two the row names: running a caulk bead and tooling it smooth. The row names no caulk gun, nozzle, sealant or surface, so none is named here. Sealant also appears inside longer plumbing rows, such as Plumbing Fixture Installation, which is a whole job and not a caulking step.

Caulking is about a line on a surface: where the joint is, where the bead sits along it, and how the tooling pass changes it. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the form of the joint and the surface is in the same frame as the hands and the tool.

The site gives no depth accuracy figure, no bead-quality label and no smoothness measure, so whether a tooled bead is resolvable in depth is Not stated.

The site describes two stereo setups and does not say which one a caulking 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.

The catalog capture mode for this row is a staged working set recorded by a multiview rig while the operator performs the task with handheld grippers, and the site states that Firsthand does not capture at a customer’s own facility. How handheld grippers, a head-mounted stereo pair and hand pose combine on this row is Not stated, so it is agreed in the spec.

The first risk is occlusion by the work itself. The hand and the tool cover the line as it is made, and the tooling pass keeps the hand in contact with the bead while it moves. The visibility flag on each joint is the answer the site gives, contact events mark when a hand meets the item, and a spec can ask for wrist views so a grip the head camera loses is still recorded.

Depth is the second. The site says depth degrades on wet and reflective surfaces and masks low-confidence regions with per-frame confidence maps, and an episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid. Whether a fresh bead or the joint is wet or reflective is Not stated. Calibration is the third, measured at the start and end of every session under a 0.28 px RMS gate. An episode is also rejected when the manipulated object is out of frame for more than 15 percent of it or an undocumented bystander appears, and a reject log ships with every batch. The site states no handling for glare, low light, dust or motion blur on this row, so this page promises none.

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’s licence, not the licence of a Firsthand delivery.

Firsthand offers MCAP delivery, and dataset 06 is stated as shipping as MCAP. For caulking the site states hand pose, a stereo-derived depth stream, 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. Confirm them in the skill spec on a Spec Pilot batch.

Off-the-shelf covers what is already in stock. The industrial and skilled-trade category lists datasets 02, 03 and 04, covering work such as machinery, auto repair, carpentry, construction, factory floors and inspection, and the stereo category lists the stereo head rig. Neither listing names caulking or sealing, so this page claims no off-the-shelf coverage of the row.

Custom collection covers the rest: custom collection at scale through a network of thousands of capture providers, for a consistent, recurring data flow to labs. The site states no provider count, cadence, hours or volume beyond that wording, so they are quoted against your spec. The fourth table below sets the two sources side by side.

Where coverage is deep, the median time from signed spec to first validated batch is a median of 48 hours. Construction and skilled trades is described as a thinner-coverage setting, where a first batch typically takes three to four weeks, because vetting and scheduling operators is the bottleneck, and we quote that up front. The site does not say which applies to this row, so ask when you request the quote.

For every delivered episode the site states that faces and screens are detected and irreversibly blurred at ingest, a reviewer confirms the result, and footage that cannot be de-identified is discarded. Every episode links to a signed contributor release through a documented consent chain. Bench work can put printed text such as a product label in view; whether one is blurred is not stated and is agreed in the spec.

The buyer owns the dataset under a perpetual, irrevocable, non-exclusive-by-default licence, with exclusivity available. This page makes no safety, standards or certification claim for caulking or sealing work.

Describe the two passes in order, what counts as a finished bead, what the camera must see, and 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, which confirms the spec on real footage.