Stereo Drilling and Mounting Data

It is first-person video of a person drilling and mounting at a workshop bench, recorded with two calibrated cameras, with hand pose and sensor streams alongside. People reach it through several phrasings: drilling robot training data, stereo pilot hole and countersink video, an egocentric fixture mounting dataset or custom trades data collection at scale. They describe one request from different angles. 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 multiview rig with handheld grippers as the 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, listed in lib/commercial-catalog-data.ts, in the Trades Workshop Bench environment of the Construction & Trades sector. "Drill pilot + countersink" is described as "Drill a pilot hole and countersink." and "Hang a fixture" is described as "Level, mark, and screw-mount a fixture." Both are rated Medium, and both are listed as Available on request. The environment examples read "Workshop bench with hand and power tools: wrenches, drivers, drill, saw, clamps, fasteners", which are kinds of tools, not named products, and this page names none.

The site states no delivered hours and no delivered stereo footage for either row, so this page claims none. The first table below reproduces the two rows as the catalog states them, with two neighbouring bench rows and one construction-site row shown for comparison. The neighbouring rows are different jobs and are not counted as drilling or fixture work. The construction-site electrical row mounts boxes and is cited as context only.

This page is the stereo and MCAP treatment of two bench rows: pilot-hole drilling with a countersink, and leveling, marking and screw-mounting a fixture. The egocentric drilling and wall mounting page covers ten rows in five environments, including these two, and is not stereo as its subject. Where that page lists capture it says the two bench rows use a multiview rig and handheld grippers; this page is the one that starts from a calibrated stereo pair and an MCAP file.

The stereo carpentry and framing page covers lumber measuring and cutting rows, not drilling. The stereo handyman and home repair page covers four repair calls in a client’s home. The stereo electrical installation page covers outlet, switch and fixture wiring, and the construction-site electrical row that mounts boxes belongs there, not here. The second table below sets the pages side by side with each status as the site lists it.

The catalog lists "Multiview rig + handheld grippers" for both rows, and the trades workshop bench environment page lists the same capture setup. The site does not state a head-mounted stereo setup for them. Stereo applies through the site’s general stereo offer: a stereo pair is a capture choice agreed in the skill spec and confirmed on a Spec Pilot. The site also states that Firsthand does not capture at a customer’s own facility, so the setting is agreed in the spec.

The site describes two stereo setups and does not say which one an order for these rows 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. A multiview rig adds synchronized third-person angles when the spec asks for them. Whether a stereo pair is worn, mounted or combined with the handheld-gripper capture is Not stated.

Drilling and mounting is about placement: where the bit meets the work, how deep the countersink sits relative to a surface, and how a fixture lines up before a screw seats it. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the geometry sits in the same capture that shows the hands working. The site gives no depth accuracy figure for these rows, so what a buyer does with that depth is their pipeline’s question.

A stereo pair adds depth, not a verdict. The site states that metric depth on sub-centimetre parts is flagged rather than interpolated, and does not say whether a pilot hole or a countersink counts as such a part. Dataset 06 is stated at 1080p per eye, and whether that resolves a hole at working distance is Not stated, so a spec should check it on a Spec Pilot. The egocentric drilling page already supplies the first-person framing; stereo is the addition for a buyer who wants the depth and the MCAP file.

The rows give a natural cut. The first is drill a pilot hole, then countersink. The second is level, mark, then screw-mount a fixture. The order inside each row is the catalog’s own. A spec that says "mount the fixture" gives one long action segment. A spec that names the steps gives a sequence you can slice by step, and the site does not set an episode length or say how many holes or fixtures make up an episode.

Whether drilling and countersinking are one segment or two, and whether leveling, marking and mounting are one segment or three, is a spec decision, not a default. Contact events can mark when a hand meets the drill, the workpiece or the fixture, where the spec asks for them, and the spec decides what counts as the object. The site names no wall, panel or frame for these rows, so the surface being drilled is Not stated and is written into the spec.

A drill, a thumb and a fixture can all sit between the lens and the work. The site states that fingers disappear behind objects, which is why each hand joint carries a visibility flag, and that reach and grasp frames are where blur and occlusion show up. The site also says small parts can be hidden by fingers. The head camera in the hard-environments stack is global-shutter, which avoids rolling-shutter skew.

The site gives no figure for how often a finger or the tool hides the work on these jobs, and no placement tolerance, so a spec can ask for wrist views or a second angle and check it on a Spec Pilot. The site states no force, torque, tool-pose or drill-speed stream for these rows, and this page does not claim one. Tools are named only as the environment lists them: wrenches, drivers, drill, saw, clamps and fasteners.

The rows describe drilling, marking, leveling and mounting, and a stereo pair can show the workpiece, the fixture and the hands in three dimensions. The site lists no hole-position, countersink-depth, level or mounted-correctly label for these rows, so none is claimed. Whether a hole counts as in the right place or a fixture counts as level is a judgement a buyer’s pipeline or spec has to define.

The site also does not state a level reading, a measurement or a tool-pose stream, so none is claimed. An episode is rejected when the manipulated object is out of frame for more than 15 percent of it, and for this job the spec decides what that object is: the workpiece, the drill or the fixture. Bit sizes, screw sizes, torque values, wall or material types and cycle times are Not stated.

Safety procedures for these rows, including eye protection and dust handling, are Not stated, and this page makes no safety, code, licensing or compliance claim. The site states no setup for noise or dust either. If your program needs protective equipment visible in frame or a specific bench setup, you write that into the skill spec and we scope it.

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, an undocumented bystander is a stated reject criterion, and every episode links to a signed contributor release. This is not legal advice, and the executed agreement controls.

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 and tool occlusion is the first risk, under the visibility flag above. Weak depth is the second: the site notes that glare-heavy and low-texture scenes make single-frame depth worse, and that depth degrades on wet and reflective surfaces while confidence maps mask low-confidence regions. An episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid. Lighting and bench setup for these rows are Not stated.

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, and rejected items are recaptured at the provider’s cost. The fifth table below lists the failure modes beside what the site states.

The October 2026 off-the-shelf catalog lists ~324,800 hours across 18 datasets, of which stereo is ~64,800 hours across 9 datasets. The site names no drilling or trades-bench dataset among them, so this work is custom collection, not an off-the-shelf purchase. The off-the-shelf stereo and hand-tracking video can still show the format before you write a spec.

It is 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: drilling the pilot hole, countersinking it, leveling, marking and screw-mounting the fixture. Say whether an episode covers one hole, one fixture or one step, what counts as the object and what counts as a completed step, 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.