Stereo Pipe Cutting and Fitting Data

It is first-person video of shop-floor pipe work: measuring and marking steel pipe, cutting it on the bandsaw, cutting pipe to length and beveling the ends, and fitting and clamping sections ready for welding. It is recorded from the operator’s own point of view with two calibrated cameras, with hand pose and sensor streams alongside. 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 their capture setup, so 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, so using it for a specific robot still needs your own retargeting step. Firsthand is not affiliated with Foxglove or the MCAP maintainers.

Two, both in the Metal Fabrication & Welding Workshop environment of the Manufacturing & Workshops sector, and both listed in lib/commercial-catalog-data.ts. "Cut and fit steel pipe using a bandsaw and pipe clamps" is described as "Measure and mark steel pipe, cut it on the bandsaw and fit sections in clamps." "Pipe Cutting & Fitting" is described as "Cut pipe to length, bevel the ends and fit and clamp sections ready for welding." Both are rated Medium.

Both are listed as Ready to deploy. The site states no delivered hours and no delivered stereo footage for either row, so this page claims none. The environment examples read "Metal shop with welding bays, grinders, cutting and fitting benches"; these are kinds of workplace, not named shops, and this page names none. The first table below reproduces the two rows as the catalog states them.

The catalog lists these two rows in a metal workshop, not in a building or a trade-service environment, so this page is about shop-floor steel pipe cutting and fit-up, not building plumbing. The stereo plumbing and pipe fitting page and the egocentric plumbing page both include the same two rows, but alongside fixture, repair and construction rows, for a lab that wants plumbing work in one specification. The stereo welding and metal fabrication page covers the same two rows as part of welding and fabrication work, and the stereo grinding and deburring page covers the two grinding rows of the same workshop.

This page is the stereo and MCAP treatment of the two pipe rows only, with its own stream map and failure modes. No pressure, pipe material, fitting standard or code figure appears here, because the site states none. The second table below sets the pages side by side.

The catalog lists "Phone (head-mounted) / multiview rig" for both rows. The site does not state a head-mounted stereo setup for them. Stereo applies through the site general stereo offer: a stereo pair is a capture choice agreed in the skill spec and confirmed on a Spec Pilot.

A multiview rig adds synchronized third-person angles, and wrist cameras give a closer view of the hands, when the spec asks for them. Whether a stereo pair is worn, mounted or combined with a multiview rig on these rows is Not stated, and so is where a rig sits relative to a bandsaw bench.

Pipe work is close and two-handed. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the pipe, a clamp, the bandsaw table and the hands around them share a frame, and the geometry of a pipe end sits in the same capture that shows the hands working it. The site gives no depth accuracy figure for these rows.

A stereo pair adds depth, not a verdict. The site states 1080p per eye for dataset 06, and whether that suffices to read a pencil mark or a tape reading on a pipe at working distance is Not stated, so a spec should check it on a Spec Pilot.

The first row begins with "Measure and mark steel pipe". It names the step and nothing about the tools: the marking tool, the measuring tool and the cut line are Not stated for these rows. The scribe, square and punch named on this site belong to the two separate layout rows of the same workshop, not to the pipe rows, so this page does not attribute them here.

Because marking comes before the cut, action segments matter: a spec that wants measuring, marking, cutting and fitting separated has to name them, and the site does not set an episode length. Whether an episode covers one cut, one fitted joint or a run of sections is a choice for the spec.

Only what the rows say: the first names "the bandsaw" and the second says "cut pipe to length". The site states no saw type or make, blade, speed, coolant, guarding, cut time or cycle count for them, and this page adds none. The environment examples mention "cutting and fitting benches", which is the only wider description of where this happens.

Contact events can mark when a hand meets the pipe or the saw, and action segments can mark the start and end of a cut, where the spec asks for them, aligned to video and depth.

The second row adds two steps: beveling the ends and fitting and clamping sections "ready for welding". The first row also ends with fitting sections in clamps. The site states no bevel method, angle, joint type, pipe diameter, wall thickness, material grade or tolerance for them, and no check that fitted sections are aligned, so none is claimed here.

Fit-up is a step in the fabrication chain on the site’s welding page, and the welding itself belongs to other rows. Whether a program wants the clamped sections as the end of an episode or the start of a tack is a choice for the spec. A fit-quality or completion label is Not stated.

The site says depth degrades on wet and reflective surfaces, and confidence maps mask the low-confidence regions. An episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid. The site does not say how depth behaves on bare, polished or freshly cut metal, so this page promises no figure.

Exposure handling in a bright shop or near a work light is Not stated either. Raise lighting in the spec and check it on a Spec Pilot.

A pipe clamp, a pipe in the hands and the saw can sit between the lens and the fingers. The site states that fingers disappear behind objects, which is why each hand joint carries a visibility flag, and that reach and grasp frames are where blur and occlusion show up. The head camera is global-shutter, which avoids rolling-shutter skew.

The site gives no figure for how often a finger is hidden at a clamp or at the saw, so a spec can ask for wrist views or a second angle and check it on a Spec Pilot. The site states no grip-force, clamp-pressure or tool-pose stream, and this page does not claim one.

The site makes no safety, protective equipment or compliance claim for any welding or fabrication environment, and this page makes none. PPE, sparks, coolant and machine guarding are Not stated. Welding codes and certifications are Not stated.

For every delivered episode the site states that faces, plates and screens are blurred irreversibly, that a reviewer confirms the result before anything ships, and that footage that cannot be de-identified is discarded. The anonymization record ships with the data, an undocumented bystander is a stated reject criterion, and every episode links to a signed contributor release. The site states no separate rule for drawings, labels or machine displays in a shop, so this page does not claim they are blurred. Settle any of these in the spec before capture.

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 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 these rows the site states hand pose, a stereo-derived depth stream with confidence maps, 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 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.

Hand and tool occlusion is the first risk. A clamp, the saw or the pipe covers the fingers, which is why each hand joint carries a visibility flag. An episode is rejected when the manipulated object is out of frame for more than 15 percent of it. For pipe work the spec decides what that object is: the pipe, a clamp or the fitted section.

Invalid depth on reflective metal is the second, under the 35 percent rule above. Calibration is measured at the start and end of every session under a 0.28 px RMS gate, and an episode is rejected for a sync breach beyond the ceiling for more than three consecutive frames, for an undocumented bystander or for a mismatch against the named skill spec. A reject log ships with every batch.

Whether sections were fitted correctly is Not stated: the site lists no fit-quality or task-completion label for these rows. The fifth table below lists the failure modes beside what the site states.

The October 2026 off-the-shelf catalog lists ~324,800 hours across 18 datasets, of which stereo is ~64,800 hours across 9 datasets. The site names no pipe cutting, pipe fitting or metal fabrication dataset among them, so this work is custom collection, not an off-the-shelf purchase.

It is 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 these rows, 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 and where each starts and ends: measuring and marking, cutting on the bandsaw, beveling, fitting and clamping. Say whether an episode covers one cut, one fitted joint or a run of sections, what counts as the object and what counts as a completed step, and name 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 sixth table below shows what each spec element decides.