Stereo Floor Mopping Data

It is first-person video of a person mopping and caring for a floor, recorded from their own point of view with two calibrated cameras and with hand pose and sensor streams alongside. The tasks are the ones the site’s catalog lists for mopping and floor care in commercial cleaning and janitorial, hotel, gym and venue settings. 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 or a multiview rig 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 floor cleaning and mopping page covers its rows across mopping, sweeping, vacuuming and floor care, with their labels and what is not stated, and the egocentric wiping and surface cleaning page covers counters and other surfaces worked by hand. This page does not repeat them. It covers the two choices layered on top of a subset of the same floor rows: a calibrated stereo pair for depth, and MCAP as the delivery container.

The rows are the same and the claims are as limited. This page states no floor-type, coverage, dirt, wet-patch, force or cleaning-product label, because the site states none, and it states no safety, hygiene or certification position for any of these environments.

Nine rows count. The core row is Mopping in Commercial Cleaning & Janitorial, which fills the bucket, wrings the mop and mops hard floors in sections, changing water as needed. It is rated Easy, listed with a head-mounted phone or multiview rig, and marked Active collection. Alongside it are Vacuuming, Floor cleaning for gym floors, Lobby & Common-Area Cleaning for hotels, a restroom row that mops the restroom floor, two strip-and-wax rows, a carpet extraction row and a venue sweeping row. The first table below reproduces each as the catalog states it.

Statuses range from Ready to deploy and Active collection to Available on request. Some catalog task names and descriptions use the words disinfect or disinfectant. They are the catalog’s own wording for the task a contributor performs, not a claim made on this page, and the site states no cleaning-product, hygiene or sanitation-efficacy data for any row.

It means a collection built to a spec you write, against the commercial cleaning and janitorial rows, with the capture choices set per program. The environment’s examples line reads "Office building, shopping mall, airport, industrial facility -- mopping, vacuuming, surface sanitizing, restroom cleaning" and is given as examples only, with no venue named. This page covers the floor side of that environment. The wider janitorial family has its own page.

Floors run through shared spaces, so bystanders matter. The site states that household capture happens inside lived-in spaces and that bystanders are de-identified or the footage is discarded. For every delivered episode it states that faces, plates and screens are blurred irreversibly and that footage that cannot be de-identified is discarded. Hotel lobbies, gyms and event venues are public-facing settings in the catalog, so settle bystander handling in the spec. The site lists capture at your own facility as not offered. It states no contributor safety protocol, no guidance on wet-floor hazards, cleaning products or floor machines, and no safety certification for any floor row, so this page describes none.

Mopping is about the state of a floor: where the mop has been, where it has not, what is in the way. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the form of the floor and the obstacles sits in the same frame as the hands. The site gives no depth accuracy figure and no coverage label, so whether a mopped section is resolvable in depth is Not stated.

The hard-environments page states that stereo keeps working outdoors where active depth sensors struggle, and that many programs capture both and sync them on one clock. Whether a mopping setting is a corridor, a lobby, a gym or a restroom is set by the row and agreed in the spec.

The site describes two stereo setups and does not say which one a mopping 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 a mopping order uses is Not stated on the site, and the second 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’s 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 floor work the site states hand pose, a stereo-derived depth stream, IMU, contact events, action segments and per-frame instance masks 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 third table below sets each stream beside what the site states about it.

Hands are the first risk. A handle sits in the fist and a bucket rim or wringer hides the fingers, so the contact point is often hidden. The visibility flag on each joint is the answer the site gives, and contact events mark when a hand meets the item. A spec can also 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. A freshly mopped floor is a wet surface, but the site does not say how depth behaves on it, so this page promises no figure.

Calibration is the third, because stereo depth is only as good as the rectification behind it: calibration is 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 lists no floor-type, coverage, dirt, wet-patch or force label.

Off-the-shelf covers what is already in stock: the stereo category lists the stereo datasets and hand-tracking video, and only dataset 06 is stated as MCAP. This page does not claim off-the-shelf coverage of mopping or floor-care rows. 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.

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 calls hospitality and commercial housekeeping a thinner-coverage environment but does not say which applies to these rows, so ask when you request the quote. Collections are billed per validated hour.

Describe the tool, the floor, the setting and the steps in order, what counts as one completed pass, 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, a small first batch that proves the spec and accept criteria on real footage before you scale. The fourth table below shows what each spec element decides.