Stereo Palletizing and Stretch Wrapping Data

It is first-person video of a person working the end of a manufacturing line: boxing finished goods, taping cartons shut, building a pallet and wrapping it, 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. 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 Plastic & Light-Assembly Manufacturer environment of the Manufacturing & Workshops sector, whose listed examples are consumer goods assembly, packaging operations, labeling and quality inspection on a production line. "Box and palletize finished goods using tape guns and stretch wrap" is described as boxing finished goods, taping cartons shut, stacking them on a pallet and stretch-wrapping the load. "Boxing & Palletizing Finished Goods" is described as packing products into cartons, building the pallet in layers and wrapping it for shipping.

Both are rated Easy, both list a head-mounted phone or a multiview rig as the capture setup, and both are listed as Ready to deploy. The site says nothing further about what that status means in volume, hours or delivered stereo footage, so this page claims none, and what applies to a given order is confirmed when you request the quote. This page names only the tools and steps that appear in the two rows: tape guns, stretch wrap, boxing and palletizing. The first table below reproduces the rows as the catalog states them.

The egocentric pallet building and wrapping page covers eight catalog rows that name a pallet across three settings, including these two, as egocentric capture. It makes no stereo or MCAP treatment of them. The stereo order packing and taping page is the stereo and MCAP treatment of four warehouse rows and states that it does not repeat the manufacturing or palletizing rows.

This page is the stereo and MCAP treatment of the two finished-goods rows. The site does not list an off-the-shelf palletizing or stretch wrapping dataset, so this work is custom collection. The comparison table below sets the pages side by side.

A pallet is built from many placements that depend on one another, and a wrap is a continuous motion around the load. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the carton, the layer under it and the hands share a frame.

The site gives no depth accuracy figure and no label for pallet pattern, layer count, stack stability or wrap quality, so whether those are resolvable in depth is Not stated. How stretch film appears to a stereo pair 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 a palletizing 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 palletizing 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, and wrist cameras give a closer view of the hands.

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 palletizing 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 carton or a stacked layer hides the fingers that hold it, and the load can hide the hands during a wrap pass. The visibility flag on each joint is the answer the site gives, contact events mark when a hand meets an item, masks are recorded per frame, and a spec can ask for wrist views so a grip the head camera loses is still recorded.

Sequence is the second. The order of placements is part of the task, and a wrap is one continuous motion, so the spec decides how each is split into action segments. A spec that says only “palletize” gives one long segment. Film, glare, reflections and motion blur are Not stated for this task and are raised in the spec. Force and tactile readings are not among the listed streams of standard capture, and no label is stated for load weight or grip force.

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.

Nothing beyond the rows. Safety certifications, protective equipment, load weights, pallet and carton dimensions, cycle times and throughput are Not stated for these rows, and this page makes no such claim. The site states no forklift or other vehicle for these rows. What a contributor may wear, do or show is agreed in the 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. How a plant’s own staff on or near a line are handled beyond that general rule is Not stated and is settled in the spec before capture.

The site lists no off-the-shelf palletizing or stretch wrapping dataset, so this work is custom collection. The only stereo head rig the site states as shipping as MCAP is dataset 06, and this page does not claim off-the-shelf stereo coverage of palletizing. 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 speed applies to a stereo palletizing order, and the catalog lists both rows as Ready to deploy without defining it further, 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 of the chain and where each starts and ends, the cartons, tape guns, pallet and film and their start state, 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.