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Cleaning restroom

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Cleaning restroom clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.

332 clips5.7 hCC-BY-4.0

Clips

332 clips

In every MCAP

23 channels · one clock · ROS 2
MCAP topics, message schemas and rates
TopicSchemaRate
/actiontad_msgs/msg/ActionPhase30 Hz
/ego/zed_head/depth/camera_infosensor_msgs/msg/CameraInfo30 Hz
/ego/zed_head/depth/image/compressedsensor_msgs/msg/CompressedImage30 Hz
/ego/zed_head/imu/datasensor_msgs/msg/Imu199.8 Hz
/ego/zed_head/left/camera_infosensor_msgs/msg/CameraInfo30 Hz
/ego/zed_head/left/image/compressedfoxglove.CompressedVideo30 Hz
/ego/zed_head/odomnav_msgs/msg/Odometry30 Hz
/ego/zed_head/right/camera_infosensor_msgs/msg/CameraInfo30 Hz
/ego/zed_head/right/image/compressedfoxglove.CompressedVideo30 Hz
/hands/left/detectedstd_msgs/msg/Bool30 Hz
/hands/left/keypointsvisualization_msgs/msg/MarkerArray30 Hz
/hands/left/odomnav_msgs/msg/Odometry30 Hz
/hands/right/detectedstd_msgs/msg/Bool30 Hz
/hands/right/keypointsvisualization_msgs/msg/MarkerArray30 Hz
/hands/right/odomnav_msgs/msg/Odometry30 Hz
/tftf2_msgs/msg/TFMessage30 Hz
/tf_statictf2_msgs/msg/TFMessage2.9 Hz
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo30 Hz
/wrist_left/image/compressedfoxglove.CompressedVideo30 Hz
/wrist_left/imu/datasensor_msgs/msg/Imu199.4 Hz
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo30 Hz
/wrist_right/image/compressedfoxglove.CompressedVideo30 Hz
/wrist_right/imu/datasensor_msgs/msg/Imu200 Hz

Get the data

EgoViz-120 is 7.3 TB, served from a public Hugging Face Storage Bucket. Start with the index: one row per clip with category, title, skills, objects and paths, before you download any video.

Install and index
pip install -U huggingface_hub
hf auth login

B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquet
This category
hf sync $B/data/cleaning_restroom ./cleaning_restroom
Previews and metadata only
hf sync $B/data ./egoviz --include "*.mp4" --include "*.json"
Cite
@misc{egoviz120_2026,
  title        = {EgoViz-120: 120 Hours of Synchronized Real-World Egocentric Data},
  author       = {Humaid Tech Inc.},
  year         = {2026},
  publisher    = {Hugging Face},
  howpublished = {\url{https://huggingface.co/datasets/humaidtech/EgoViz-120}}
}