Stereo Floor Stripping and Waxing Data

It is first-person video of a person stripping and waxing a hard floor, recorded from their own point of view with two calibrated cameras and with hand pose and sensor streams alongside. The tasks are the two rows the site’s catalog lists for it in Commercial Cleaning & Janitorial. 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.

Two, both in the Commercial Cleaning & Janitorial environment under the Facilities & Cleaning sector, and both rated Medium. "Floor Stripping & Waxing" is described as stripping old wax with a floor machine, rinsing and applying new wax in even coats, and is listed as Ready to deploy. "Strip and wax hard floors using a floor buffer and wax applicator" is described as applying stripper, running the buffer over the floor, rinsing and laying new wax with an applicator, and is listed as Active collection.

Both rows list a head-mounted phone or a multiview rig as the capture setup. The first table below reproduces them as the catalog states them. This page names only the tools, parts and steps that appear in those rows: floor machine, floor buffer, wax applicator, stripper, wax, rinsing and even coats.

The egocentric carpet extraction and floor stripping page covers four catalog rows, the two strip-and-wax rows and two carpet extraction rows, and describes delivery in RLDS, LeRobot or WebDataset. The stereo floor mopping page covers nine floor-care rows, of which the two strip-and-wax rows are two, and treats them as one line each inside a mopping page. The stereo surface finishing page covers sanding, drywall and painting rows and does not include these two.

This page is the stereo and MCAP treatment of just the two strip-and-wax rows. It does not repeat the catalog detail of the carpet page or the mopping steps. The comparison table below sets the three pages side by side.

Stripping and waxing is about the state of a floor: where stripper has been applied, where the buffer has run, where new wax has been laid. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the form of the floor and what sits on it share a frame with the hands. The site gives no depth accuracy figure and no coverage label, so whether a laid coat 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. Which setting a program uses is set in the spec; the catalog rows name none.

The site describes two stereo setups and does not say which one a strip-and-wax 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 strip-and-wax 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’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 fourth 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 machine body or wax applicator can hide 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 rinsed or waxed floor is a wet or reflective 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.

Commercial floors run through shared spaces, so bystanders matter. For every delivered episode the site states that faces, plates and screens are blurred irreversibly and that footage that cannot be de-identified is discarded. Capture at your own facility is listed as not offered. The site states no contributor safety protocol, no guidance on stripper, wax or floor machines, no slip-safety position and no certification for any floor row, so this page describes none.

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 the strip-and-wax 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 does not say which applies to these rows, so ask when you request the quote. Collections are billed per validated hour.

Describe the machine, 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 fifth table below shows what each spec element decides.