Stereo Water Heater Replacement Data

It is first-person video of a water heater swap on a trade service call, recorded from the worker’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 this row. The catalog lists a head-mounted phone or a multiview rig as its 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.

One, in the Trade Service Calls (Plumbing / HVAC / Electrical) environment of the Construction & Trades sector, listed in lib/commercial-catalog-data.ts. "Water Heater Replacement" is described as "Drain and disconnect the old heater, position the new unit, connect water and power and test." It is rated Hard.

It is listed as Ready to deploy. The site states no delivered hours and no delivered stereo footage for it, so this page claims none. The environment examples read "Plumber, electrician or HVAC crew on service calls at client sites"; these are kinds of crew, not named firms, and this page names none. The first table below reproduces the row as the catalog states it.

This page is the stereo and MCAP treatment of the one water heater row on a trade service call. The egocentric water heater replacement page covers the same row without stereo as its subject: it goes deeper on the steps, the ten synchronized streams and the labels. The stereo plumbing and pipe fitting page covers six plumbing and pipe rows and does not list the water heater row among them. The stereo HVAC installation and service page covers five HVAC rows and does not list it either. The stereo handyman and home repair page covers four On-Site Home Repair rows, all Available on request, and does not list it.

No heater type, fuel, size, venting, code, permit or inspection requirement appears here, because the site states none. The second table below sets the pages side by side, with each row’s status as the site lists it.

The catalog lists "Phone (head-mounted) / multiview rig" for the row. The site does not state a head-mounted stereo setup for it. 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 this row is Not stated, and so is where a rig sits relative to the heater.

A heater swap is about where a heavy unit, a supply and a connection sit relative to the hands and the wall. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the geometry sits in the same capture that shows the hands working it. The site gives no depth accuracy figure for this row, so what a buyer does with that depth is their pipeline’s question.

A stereo pair adds depth, not a verdict. The site states 1080p per eye for dataset 06, and whether that resolves a small connection at working distance is Not stated, so a spec should check it on a Spec Pilot.

The row begins with "Drain and disconnect the old heater". It names the step and nothing about the method: hoses, valves, fittings, tools, shut-off steps, how water is handled and how the old unit is moved are Not stated, and this page adds none. Scalding water and lifting are Not stated either, and the site makes no safety claim for this row.

A spec that wants draining and disconnecting separated has to name them as action segments, and the site does not set an episode length. Contact events can mark when a hand meets a part, where the spec asks for them.

The row continues with "position the new unit, connect water and power". How heavy the unit is, whether it needs a second person, what the connections are and what power source it uses are Not stated. The site states no fuel type, no venting, no gas or electrical safety procedure and no plumber licensing for this row, and this page adds none.

Whether an episode ends at the connection, at the test or covers the whole job is a choice for the spec. A connection is where depth and hand visibility matter most, and the fourth table below sets what the site states about each stream.

The row ends with "and test". How a test is judged is not stated on the site, and the site lists no pass, fail, leak or completion label for this row, so none is claimed here. A spec that wants a label has to define it and ask for it at the start.

The site states that a hand is often half out of view behind a tank or at a connection, which is the case a head camera and an optional wrist view are meant to cover. It states no closet, clearance or room dimensions, no accuracy figure for depth at close range and no lighting setup for this row, so this page promises none.

The site notes that glare-heavy and low-texture scenes make single-frame depth worse, and that depth degrades on wet and reflective surfaces. Raise lighting and space in the spec and check them on a Spec Pilot. An episode is rejected when the manipulated object is out of frame for more than 15 percent of it, and for a heater job the spec decides what that object is.

A tool, a hose and the tank itself 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 on this job, 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, torque or tool-pose stream, and this page does not claim one.

Protective equipment, gas, electrical safety, scalding water and lifting are Not stated, and this page makes no safety or compliance claim. Heater brands, tank sizes, job durations and cycle counts are Not stated too.

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 a household beyond that, so settle it in the spec before capture. This is not legal advice, and the executed agreement controls.

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 this row 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, under the visibility flag above. Invalid depth on wet or reflective surfaces is the second: an episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid, and confidence maps ship with depth.

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 a connection was made correctly or a heater works is Not stated. 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 water heater, plumbing or trade service 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 this row, 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: draining and disconnecting, positioning the unit, connecting water, connecting power, testing. Say whether an episode covers one stage or the whole job, 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.