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factory-manipulation-sample-v3
Egocentric stereo factory hand-manipulation sample for robotics research. Three 2–3-minute clips,
each a continuous manipulation task captured from a head-mounted stereo RGB camera, with
metric 3D 21-keypoint hand pose, head IMU, stereo calibration,
and a natural-language task description. No faces are present (no_faces_present).
Packaged as a single archive
factory-manipulation-sample-v3.zip— download and extract:hf download daneel-data/factory-manipulation-sample-v3 factory-manipulation-sample-v3.zip --repo-type dataset
Per-clip files
left.mp4,right.mp4— synchronized stereo RGB, 2000×1200 per eye @ 60 fps, H.264. Upright.handpose.jsonl— per-frame metric-3D 21-keypoint hand pose (Left/Right), one object per frame. Seehandpose_README.mdfor the schema.handpose_overlay.mp4— left eye with the 21-keypoint skeleton drawn (blue=Left, green=Right) + depth (QC aid).calibration.json— stereo calibration: per-eye intrinsics + distortion, stereo extrinsics (R/T, 60 mm baseline), and rectification (R1/R2/P1/P2/Q). Used to recover the metric 3D. Shared across clips (same rig).head_imu.csv— head IMU (6-axis), ~600 Hz, on thet_msmaster clock. Columnst_ms, video_frame, ax, ay, az, gx, gy, gz(accel m/s², gyro rad/s), rotated to the upright frame.frame_index.jsonl— per-frame exposure timestamps (re-based to 0), the video↔IMU alignment key.language_annotation.json— action label + natural-language task description.
License: CC BY-NC-ND 4.0.
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