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Camera setup

We record data using a synchronized three-camera configuration:
  • Head-mounted fisheye camera
  • Left wrist-mounted fisheye camera
  • Right wrist-mounted fisheye camera
This setup captures both global scene context and fine-grained manipulation detail.

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Specifications

ComponentDetails
ResolutionUp to 4K
Frame rate30 FPS
Field of view~170°
SyncHardware time-synchronized

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Why fisheye cameras?

Fisheye lenses provide:
  • Wide spatial coverage across the full workspace
  • Reduced occlusion during manipulation
  • Better spatial awareness for downstream perception models