Stereo Plumbing and Pipe Fitting Data

It is first-person video of a person doing plumbing or pipe work, recorded from their own point of view with two calibrated cameras and with hand pose and sensor streams alongside. The tasks are the ones the site’s catalog lists for plumbing, fixture installation, and pipe cutting and fitting. 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.

The egocentric plumbing and pipe fitting page covers the tasks: ten catalog rows, including drain snaking, the water heater row and the shut-off valve row, plus the episode contents, labeling and delivery. This page does not repeat it. It covers the two choices layered on the fixture and pipe-fitting rows: a calibrated stereo pair for depth, and MCAP as the delivery container.

The stereo construction crews page covers the Active Construction Site environment as a whole, where plumbing is one trade among fifteen task rows. The stereo welding and metal fabrication page covers the same two pipe rows from the workshop, but as part of welding and fabrication work. Here they sit next to the fixture rows, because a trade-service lab wants cut-and-fit and remove-and-install work in one specification. No pressure, pipe material, fitting standard or code figure appears on this page, because the site states none.

Six rows count, in four environments. Active Construction Site lists Plumbing. On-Site Home Repair lists Plumbing repair call. Trade Service Calls lists two fixture rows, Plumbing Fixture Installation and Remove and install plumbing fixtures using pipe wrenches and sealant tape. The Metal Fabrication & Welding Workshop lists two pipe rows, Pipe Cutting & Fitting and Cut and fit steel pipe using a bandsaw and pipe clamps. The first table below reproduces each as the catalog states it.

Statuses are Active collection for the site row, Available on request for the home repair row and Ready to deploy for the four others, which means contributors and site access are set up and capture starts once a spec is signed. The four fixture and site rows are rated Hard and the two pipe rows Medium. The site names no home, shop, brand, plumber, material or tool model for any row.

Plumbing is about the state of a joint: whether a fixture is backed off its supply, whether the thread is wrapped before the new one goes on, whether a cut pipe sits square in its clamp. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the shape of the part and the fixture sits in the same frame as the hands. The site gives no depth accuracy figure for these rows and no leak-result label, so what a buyer does with that depth is their pipeline’s question.

The site’s stereo material also says that in a glare-heavy or low-texture scene a single-frame depth guess gets worse, and that a calibrated pair measures disparity between two views at a fixed, known baseline instead. It adds that stereo keeps working outdoors where active depth sensors struggle. Whether a plumbing job is indoors, in a basement or on an open site is not stated beyond the environment names.

The egocentric plumbing page states that under a sink or behind a fixture a hand is often half out of view. That is the case stereo helps with most: the head camera keeps the hands in frame, a wrist view adds a closer angle on request, and the calibrated pair records how far the fixture, the supply and the wall sit from the lens.

The site states no cabinet, clearance, pipe-run or room dimensions, and no accuracy figure for depth at close range, so this page promises none. Tight spaces also raise a framing risk the site does state: an episode is rejected when the manipulated object is out of frame for more than 15 percent of it. If the job is mostly behind a fixture, say so in the spec so the wrist view and the framing rule are planned together.

The site states 3D hand pose of 21 joints per hand with a per-joint visibility flag, and contact and grasp events that mark when fingers meet a tool or a part. In plumbing that is the grip on a pipe wrench, the wrap of sealant tape around a thread, the hold on a fixture while it is seated and the fingers steadying pipe in a clamp.

These are the moments a head camera loses most often, because a tool, a fixture or the pipe sits between the lens and the fingers. A spec can ask for a wrist view so a grip the head camera loses is still recorded, and the visibility flag marks the joints that were hidden. The site states no torque, grip-force, thread-engagement or tool-pose stream, and does not say whether a wrench or a pipe counts as the object in a contact event, so settle that in the spec.

The site describes two stereo setups and does not say which one a plumbing 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.

Every plumbing row in the catalog lists a head-mounted phone or multiview rig. Which rig, resolution and streams a plumbing order uses is Not stated, and the second 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.

Wet and shiny surfaces are the first risk. The rows end in a leak check or a flow test, and the site says depth degrades on wet and reflective surfaces while 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 chrome, brass or sealant-wrapped threads, so this page promises no figure.

Glare and light are the second. The site notes that glare-heavy scenes make single-frame depth worse, and it states a low-light share only for its automotive dataset. Lighting handling for plumbing rows, whether under a sink, in a plant room or in a metal shop, is Not stated. Raise it in the spec before capture. Occlusion and motion blur are the third. The head camera is global-shutter, which avoids rolling-shutter skew, and the site notes that reach and grasp frames are where blur and occlusion show up. Hand pose carries a visibility flag for joints a wrench or a fixture hides.

Calibration is the fourth, 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. The fifth is framing and bystanders: an episode is rejected when the manipulated object is out of frame for more than 15 percent of it, or an undocumented bystander appears. The third table below sets each risk beside the site’s handling. No leak-result, joint-quality or completion label is listed on the site.

Every batch is validated against signed accept criteria before it ships, a reject log ships with it, and rejected items are recaptured at our cost. Delivery is rolling, per validated batch, and billing is per validated hour. Each episode links to a signed contributor release through a documented consent chain, and the consent record is part of the delivery.

Faces, plates and screens are detected and irreversibly blurred at ingest, and a reviewer confirms the result before anything ships. Footage with bystanders who cannot be de-identified is discarded. The site does not state a separate rule for a household, a client’s documents or labels on equipment, so settle the privacy rule for the space in the spec before capture. The site makes no safety, protective equipment, licensing or compliance claim for any plumbing environment, and neither does this page.

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, with optional chunking and CRC checksums.

Native 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 plumbing work the site states a stereo pair, a stereo-derived depth stream with confidence maps, hand pose, IMU, contact events, action segments and calibration 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.

The site states delivery in RLDS, LeRobot and WebDataset, plus HDF5, zarr and Rerun .rrd, and MCAP can ship alone or beside any of them. Plumbing episodes follow the same episode schema as every other Firsthand collection, so a loader that reads another Firsthand dataset reads this one without changes.

Which container suits a lab depends on its reader and its training loop, and the site does not rank them. The compare page on MCAP and HDF5 sets the two side by side, and the delivery formats guide covers the rest. Say in the spec whether MCAP is the only delivery or sits beside a training format.

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 plumbing or pipe-fitting rows. A lab can use the stock stereo footage to check the rig and the format first, then commission the plumbing tasks it needs. 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. Four of the six rows are listed as Ready to deploy, but the site does not say which coverage level applies to a given row or setting, so ask when you request the quote. Collections are billed per validated hour, and capture at your own facility is listed as not offered. The supply page covers how a recurring flow is set up.

Describe the sequence your policy needs: for a fixture, disconnect the old one with pipe wrenches, fit the new one with sealant tape, check for leaks; for pipe, measure and mark, cut, fit in clamps. State what counts as a completed step, the setting, 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. Pipe materials, sizes, fitting types and tool models are agreed in the spec because the site does not state them. The fifth table below shows what each spec element decides.