Stereo Torque and Bolt Fastening Data

It is first-person video of a person doing fastening work at an assembly bench: torquing bolts with a torque wrench, or fastening a housing with a driver to torque. It is recorded from their 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 multiview rig with handheld grippers 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 Precision Assembly Bench (electronics) environment of the Manufacturing & Workshops sector. "Torque to spec" is described as "Torque bolts with a torque wrench." and rated Medium. "Screw-fasten housing" is described as "Fasten a housing with a driver to torque." and rated Medium. The catalog describes the environment as "Assembly bench: PCB/electronics, fasteners, fixtures, solder/crimp tools, small parts".

Both are listed as Available on request. The catalog does not define that status further, and the site says nothing about delivered hours or delivered stereo footage for either row, so this page claims none. The rows name bolts, a torque wrench, a housing and a driver, and no tool or fastener brand. The first table below reproduces the rows as the catalog states them.

The egocentric screwdriving and fastening page lists eleven fastening rows across several environments, including both of these, as first-person catalog capture with ten streams, and stereo and MCAP are not its subject. The stereo consumer goods assembly page covers three Plastic & Light-Assembly Manufacturer rows, all Ready to deploy, one of which fastens plastic components with electric screwdrivers and assembly jigs; neither torque row is among them. The stereo tire and wheel service page covers five tire and wheel rows in Auto Service Center & Tire Shop, and neither torque row is among them. The stereo wire crimping and harness assembly page covers the two other Precision Assembly Bench rows that are not this pair, both Available on request. The egocentric precision assembly bench page covers all fifteen bench rows as egocentric catalog capture.

This page is the stereo and MCAP treatment of the two torque and housing-fastening rows only, with its own stream map and failure modes. The second table below sets the pages side by side.

The catalog lists "Multiview rig + handheld grippers" for both rows, as it does for the whole Precision Assembly Bench environment. The site does not state a head-mounted stereo setup for these rows. 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.

The site states that handheld grippers are listed so demonstrations map onto a robot end effector, and states no accuracy for that mapping. 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 the grippers on these rows is Not stated.

Fastening is close and cluttered. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so a bolt, the wrench seated on it, the housing and the hand around them share a frame. The site gives no depth accuracy figure for these rows, so what a buyer does with that depth is their pipeline question.

A stereo pair adds depth, not a verdict. The site states 1080p per eye for dataset 06, and whether that suffices to see a bolt head, a screw or a driver bit at working distance is Not stated, so a spec should check it on a Spec Pilot. The site also states that Firsthand does not capture at a customer own facility.

Both rows are two-handed: one hand steadies the housing or the part while the other works the torque wrench or the driver. The site states 3D hand pose of 21 joints per hand with a per-joint visibility flag, plus contact and grasp events that mark when fingers or a tool make and break contact with a fastener or workpiece, so each hand has its own record.

The site does not say whether a bolt, a screw, the housing, the wrench or the driver counts as the object in a contact event, so settle what an event means for your task in the spec. Action segments carry a verb and a noun per step as the skill spec defines them, and the egocentric screwdriving page gives engage, drive and release as examples, so a spec that wants seat, torque and release separated has to name them.

The torque wrench, the driver, the fingers and the housing can cover the exact spot being worked, and the head camera sits close to the work, as close as a robot onboard camera would. The site states that fingers disappear behind panels and tools, which is why each hand joint carries a visibility flag, and that small parts can fall below a depth sensor reliable floor: hand pose stays valid at that range, and metric depth on sub-centimetre parts is flagged rather than interpolated.

Whether a screw or a bolt head counts as such a part is Not stated, and the site gives no minimum object size, no thread size and no depth figure at working distance. The site also states that depth degrades on wet and reflective surfaces and ships per-frame confidence maps so a buyer can mask rather than guess. How depth behaves on a polished bolt head or a metal wrench in particular is Not stated, so it is a question for a Spec Pilot.

The environment is described as a bench with small parts, fasteners, fixtures and solder and crimp tools. The site states no label for fastener type, no size or count of fasteners per episode and no thread size for these rows.

What it does state is how small parts are treated in depth: hand pose stays valid and metric depth on sub-centimetre parts is flagged rather than interpolated. Fastener types, tool models and fixture layouts are Not stated and belong in the written spec.

Tool contact is stated only as contact events that mark when a hand or a tool meets a fastener or workpiece, and as action segments with a verb and a noun. The site states torque, force and tactile data as delivered streams nowhere: several rows name torquing to a value or to spec, but no torque-wrench or load-cell reading is described as a delivered field. A separate glove tier records a tactile glove signal, and its use on this bench is Not stated.

The catalog rows state no tool-safety rule, and this page states none. Torque values, torque wrench models and driver models are Not stated, so any requirement belongs in the written spec.

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. The wrench, the driver, a finger or the housing covers the fastener, which is why each hand joint carries a visibility flag, and a spec can ask for wrist views or a second angle. An episode is rejected when the manipulated object is out of frame for more than 15 percent of it. For fastening work the spec decides what that object is: the bolt, the screw, the housing or the tool.

Invalid depth near the work is the second. An episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid. 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.

The egocentric screwdriving page states that cross-threads, dropped fasteners or tools, slipped grips and misalignment are captured and action-segmented alongside clean takes rather than discarded; whether that applies to a stereo order on these rows is set in the spec. Whether a bolt was torqued correctly is Not stated: the site lists no torque reading and no success, defect or quality label. Torque values, tool and fastener brands, thread sizes, cycle times, tolerances, factory or customer names, and ISO or other certifications are Not stated and are not claimed here. The fifth table below lists the failure modes beside what the site states.

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, and an undocumented bystander is a stated reject criterion.

The site does not state a rule specific to a factory or a bench, or to branded parts or packaging, so this page makes no such claim. Settle it 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. Two stereo sets mention fastening in general terms: S5 (~2,000 hours), described as manufacturing across 50+ factories including fastening and tool use, and S6 (757 hours), described as a yarn mill, blinds and woodwork set including fitting and fastening. Neither names torquing, a torque wrench, bolts or a housing, and the site does not state that either contains these rows.

Stereo torque and bolt fastening in MCAP is therefore custom collection, not an off-the-shelf purchase: 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: seating the wrench on a bolt and torquing it, or placing a housing and fastening it with a driver. Say whether an episode covers one fastener, a pattern of fasteners or a whole housing, since the site does not set an episode length, 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.