Stereo Oil and Fluid Change Data

It is first-person video of a person doing an oil change: draining engine oil into a pan, replacing the oil filter, refilling and, in one row, topping up coolant and other fluids. It is recorded from their own point of view with two calibrated cameras, with hand pose and sensor streams alongside. The task is the one the site’s catalog lists in three rows. 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.

Three, all in the Auto Service Center & Tire Shop environment of the Automotive & Transport sector, all rated Medium. The first is named "Drain and replace engine oil using a drain pan and filter wrench": "Drain oil into the pan, swap the filter with a filter wrench and refill to level." Its status is Active collection. The second is named "Drain, replace, and refill engine oil and oil filter using a wrench, drain pan, and funnel.", and its catalog description reads "Automotive repair shop with vehicle lifts, tool chests, and dedicated service bays." Its status is Active collection. The third is "Oil & Fluid Change": "Drain engine oil, replace the filter, refill oil and top up coolant and other fluids." Its status is Ready to deploy.

All three list a head-mounted phone or a multiview rig as the capture setup. The site says nothing further about what Active collection or Ready to deploy means in volume, hours or delivered stereo footage, so this page claims none. It names only the tools and items that appear in the rows: a drain pan, a filter wrench, a wrench, a funnel, engine oil and an oil filter. The first table below reproduces the rows as the catalog states them.

The egocentric vehicle maintenance page covers thirteen rows across oil and fluid, filter, battery, brake and diagnostics work as first-person capture, and stereo and MCAP are not its focus. The stereo brake pad and rotor service page and the stereo tire and wheel service page give stereo and MCAP treatment to brake rows and tire rows, and neither lists an oil row. The egocentric tire and wheel page covers tire rows.

This page gives the three oil and fluid rows their own stereo and MCAP treatment, stream map and failure modes. The comparison table below sets the pages side by side.

An oil change happens at arm’s length under a vehicle: a hand holds a filter wrench on a filter, positions a drain pan, loosens a plug and steadies a funnel. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the pan, the filter, the tool and the hands share a frame.

The site also states that depth degrades on wet and reflective surfaces and handles that with per-frame confidence maps. The site gives no depth accuracy figure for oil change, so whether a filter, a drain plug or the surface of oil in a pan is resolvable in depth is Not stated, and a spec should check it on a Spec Pilot. Capture at your own facility is listed as not offered.

The site describes two stereo setups and does not say which one an oil change 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 an oil change 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. The catalog states that a multiview rig adds synchronized third-person angles when the spec asks for them, which matters in a service bay because the vehicle itself can occlude the first-person view. Wrist cameras give a closer view of the hands when one hand holds a filter wrench and the other a pan or a funnel.

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 oil and fluid work the site states hand pose, a stereo-derived depth stream with confidence maps, 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.

Occlusion is the first risk. A filter wrench, a funnel or the filter itself can hide the fingers that hold it, and the vehicle can block the first-person view. The visibility flag on each joint is the answer the site gives, contact events mark when a hand takes hold of an item such as a filter or a plug, masks are recorded per frame, and a spec can ask for wrist views or a second angle so a grip the head camera loses is still recorded. The site does not say whether a filter, a plug or a pan counts as the object for contact events, so settle it in the spec.

Surfaces are the second. The site states that under-vehicle capture is hostile to infrared depth because painted and oily surfaces absorb the projector pattern, and that such episodes carry a depth-quality flag instead of being silently interpolated. An oil change is under-vehicle work on oily surfaces by nature. Whether a stereo pair behaves differently on those surfaces is Not stated, so ask for the flag and the confidence maps to be delivered with each episode.

Sequence is the third. The site notes that a job is a chain of dependent steps and that a filter comes off after the drain, and that a spec saying "change the oil" gives one long action segment while a spec naming drain, swap the filter and refill gives a sequence that can be sliced by step. The rows do not say what one episode covers, so the spec decides. Fluid types, filter types, oil grades, capacities, service intervals, service times, vehicle makes and types, part brands, throughput and any safety, environmental or certification claim are Not stated and are not claimed on this page.

Calibration is the fourth, 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, when more than 35 percent of depth pixels in the manipulation region are invalid, or when an undocumented bystander appears, and a reject log ships with every batch.

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. It also states that licence plates and VIN plates in service-bay footage are blurred at ingest without exception. The anonymization record ships with the data, and an undocumented bystander is a stated reject criterion.

Whether tool displays, shop signage or a customer’s documents are blurred beyond that general rule is Not stated, and this page makes no claim about it. Raise any such rule in the spec.

The October 2026 off-the-shelf catalog lists ~324,800 hours across 18 datasets, of which stereo is ~64,800 hours across 9 datasets. None of them names an oil or fluid change among its tasks, and the one mixed-environment stereo set, S1, gives its breakdown by environment and task on request. So stereo oil and fluid change in MCAP is custom collection: custom collection at scale through a network of thousands of capture providers, for a consistent, recurring data flow to labs. The off-the-shelf stereo and hand-tracking video page shows what the rig delivers, and the custom order applies it to your task.

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. Two rows are Active collection and one is Ready to deploy, and the site does not say which speed applies to a stereo oil change order, so the timeline is quoted against your spec. Collections are billed per validated hour, and rejected episodes and recaptures are never billed.

Describe the tasks and where each starts and ends: the drain, the filter swap, the refill and any top-up of other fluids. Name the tools you expect to see, whether an episode covers one oil change or a longer visit, what counts as a reject 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.