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Datasets:
daneel-data
/
factory-manipulation-sample-v2

Tasks:
Robotics
Other
Size:
n<1K
Tags:
manipulation
egocentric
imu
factory
shoe-manufacturing
bimanual
License:
Dataset card Files
xet
 Community

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factory-manipulation-sample-v2

Egocentric factory hand-manipulation sample for robotics research. Three ~60-second clips, each a continuous, idle-trimmed manipulation task captured from a head-mounted camera, with timestamped 21-keypoint hand pose, head IMU, and a natural-language description. Private evaluation sample β€” not for redistribution.

Packaged as a single archive:

hf download daneel-data/factory-manipulation-sample-v2 factory-manipulation-sample-v2.tar.gz --repo-type dataset --local-dir .
tar -xzf factory-manipulation-sample-v2.tar.gz   # -> factory-manipulation-sample-v2/{clip_001,clip_002,clip_003}/

Per-clip files

  • video.mp4 β€” RGB egocentric video, 1640Γ—1232, 30 fps (PII-safe: faces blurred where present).
  • video_handpose.mp4 β€” same video with the 21-keypoint hand skeleton drawn + a QC HUD.
  • handpose.jsonl β€” per-frame hand pose. HaMeR (MANO), one JSON object per frame. Each hand: COCO-style keypoints [x,y,v] (v: 2=visible, 1=low-confidence/inferred), keypoints_world_m + keypoints_cam_m (3D, meters), mano (axis-angle pose/shape), bbox (COCO xywh), per-hand valid/flags, and per-frame frame_flags. See handpose_README.md for the full schema and the accuracy/validity flags.
  • handpose_qc.csv β€” per-frame quality flags for quick filtering.
  • handpose_README.md β€” annotation data card (schema + how to use the flags).
  • head_imu.csv β€” head IMU (accel + gyro), ~200 Hz, on the same continuous timeline. Columns: t_ms (continuous ms), accel_{x,y,z} (g), gyro_{x,y,z} (deg/s). For SI: accel Γ— 9.80665 β†’ m/sΒ², gyro Γ— Ο€/180 β†’ rad/s. Frame: see intrinsics.json β†’ head_imu.
  • intrinsics.json β€” shared fisheye camera calibration (1640Γ—1232: fx/fy/cx/cy, k1–k4) and the camera + head-IMU coordinate-frame conventions. Same calibration for all clips.
  • language_annotation.json β€” action label + natural-language task description.
  • metadata.json β€” clip-level metadata (action, fps, resolution, modalities, PII status).

License

CC BY-NC-ND 4.0 β€” evaluation and citation only; no redistribution or commercial use. Full corpus & licensing: https://www.daneeldata.com
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