Stereo Furniture Restoration and Refinishing Data

It is first-person video of a person restoring a piece of furniture, recorded from their own point of view with two calibrated cameras and with hand pose and sensor streams alongside. The work is the one row the site’s catalog lists in Repair Shop: strip old finish, repair joints and veneer, sand and refinish the piece. 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 head-mounted phone or a multiview rig as the capture setup. Stereo applies only 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 data is human capture by paid, consented contributors, not robot or teleoperation data. Firsthand is not affiliated with Foxglove or the MCAP maintainers.

One. "Furniture restoration" sits in the Repair Shop environment under Repair Services, in the catalog data file lib/commercial-catalog-data.ts. The row is described as "Strip old finish, repair joints and veneer, sand and refinish the piece.", is rated Hard and is listed as Available on request, with a head-mounted phone or multiview rig as the capture setup.

The site defines Available on request as scoped and recruited to spec when a buyer asks for it. It says nothing about volume, hours or delivered stereo footage for this row, so this page claims none. The row names no finish, stripping method, tool or wood, and neither does this page.

No. The site states no upholstery or reupholstering row and no furniture repair row beyond the one above, and this page does not suggest that a restoration collection includes them. If a policy needs other furniture work, describe the object, the steps and where the sequence starts and ends in the spec.

The nearest wood rows (Sanding & Surface Prep, Staining & Finishing, Veneer Lamination & Pressing and Furniture crafting) sit in other environments and are not counted. None mentions an old finish, a repair or a restored piece.

The egocentric furniture restoration page covers the same row with an egocentric treatment and no stereo or MCAP treatment. This page adds the stereo and container side for that row alone: what a calibrated pair adds at a bench, how the streams map into an MCAP file and what the site does not state.

The stereo furniture assembly, stereo surface finishing and stereo carpentry pages are stereo and MCAP pages for other rows: frame joining, sanding, drywall and painting, and lumber measuring and cutting. None of them is built on the restoration row.

Restoration is about where the hands, the tool and the piece sit relative to one another, such as a hand beside a joint or a repair meeting a veneer edge. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the piece, the tool and the hands share a frame.

The site gives no depth accuracy figure and no label for a stripped, repaired, sanded or finished surface, so whether those are resolvable in depth is Not stated. The site states that wet and reflective surfaces degrade active-stereo depth; how a stereo pair behaves on a freshly finished surface is Not stated.

The catalog states one capture setup for the row: a head-mounted phone or a multiview rig. The site describes two stereo setups and does not say which one a restoration 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 restoration order uses is Not stated on the site. Calibration is re-solved at the start and end of every session under a 0.28 px RMS gate. The catalog states that a multiview rig adds synchronized third-person angles when the spec asks for them. Lighting, bench setup and piece sizes are Not stated.

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.

Libraries exist for C++, Go, Python, Rust, Swift and TypeScript. 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 restoration work 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, and none should be assumed. Name the streams that matter in the skill spec and confirm them on a Spec Pilot batch. The table above sets what the site states beside what it does not.

Hand occlusion is the first risk. Fingers go behind the piece or a tool, and a tool can hide the joint or surface it works. The visibility flag on each joint is the answer the site gives, and contact events mark when a hand meets an item.

Calibration is the second, because stereo depth is only as good as the rectification behind it: it is measured at the start and end of every session under a 0.28 px RMS gate. Surfaces that change are the third: the site lists no stripped, repaired, sanded or finished label, so what counts as done is written into the spec up front.

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 gives no solvent, dust or chemical handling instructions for this row, so this page gives none.

The row names four jobs in order: strip, repair, sand and refinish. Action segments carry start, end, verb and noun, so the spec decides where one job ends and the next begins, and which object is the noun. The row says "joints and veneer", so a spec can choose joint repair, veneer repair or both.

The site states no episode length, segment count or finished-piece label, so whether an episode is one job or the whole sequence is set per program in the skill spec.

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. Who may be in frame is agreed in the spec, and the anonymization page has the full statement. Markings on a piece of furniture and text in the workspace are not listed as blur categories, so this page does not claim they are blurred.

Workshop, client and brand names, furniture types, woods, grits, cure or dwell times and task times are Not stated for this row.

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 an off-the-shelf dataset of furniture restoration, so this is custom collection: 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 row is Available on request, and the site does not say which speed applies to a stereo restoration order, so ask when you request the quote. Collections are billed per validated hour.

Describe the piece, the jobs and their order, the start and end state, 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 last table below shows what each spec element decides.