5:36
Mopping facility floor
48 actions24 skillsMCAP 5.3 GB
Mopping floor
Mopping floor clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
1,595 clips56.8 hCC-BY-4.0
Clips
1,595 clips
6:02
Mopping office floor
47 actions24 skillsMCAP 5.5 GB
8:25
Mopping cafeteria floor
47 actions30 skillsMCAP 7.9 GB
5:49
Mopping cafeteria floor
47 actions22 skillsMCAP 5.0 GB
5:46
Mopping classroom floor
47 actions7 skillsMCAP 6.5 GB
6:42
Mopping reception area floor
46 actions11 skillsMCAP 6.7 GB
5:11
Mopping hallway floor
46 actions21 skillsMCAP 4.5 GB
11:47
Mopping classroom floor
45 actions20 skillsMCAP 13.2 GB
5:49
Mopping classroom floor
45 actions10 skillsMCAP 5.5 GB
6:23
Mopping office floor
45 actions14 skillsMCAP 5.4 GB
7:13
Mopping tiled floor
45 actions2 skillsMCAP 5.7 GB
5:13
Mopping the floor
45 actions22 skillsMCAP 4.6 GB
6:15
Mopping cafeteria floor
45 actions36 skillsMCAP 6.1 GB
5:09
Mopping hallway floor
44 actions25 skillsMCAP 4.7 GB
6:56
Mopping cafeteria floor
44 actions23 skillsMCAP 6.5 GB
6:09
Mopping restroom floor
44 actions27 skillsMCAP 5.4 GB
7:51
Mopping pool deck
43 actions20 skillsMCAP 7.3 GB
6:55
Mopping floor
43 actions22 skillsMCAP 5.7 GB
5:47
Mopping office floor
43 actions22 skillsMCAP 5.4 GB
12:14
Mopping lecture hall floor
42 actions12 skillsMCAP 12.6 GB
6:50
Mopping office floor
42 actions24 skillsMCAP 6.0 GB
6:40
Mopping floor
42 actions28 skillsMCAP 6.4 GB
8:43
Mopping hallway floor
42 actions22 skillsMCAP 8.6 GB
7:07
Mopping the room floor
41 actions17 skillsMCAP 6.1 GB
In every MCAP
23 channels · one clock · ROS 2| Topic | Schema | Rate |
|---|---|---|
| /action | tad_msgs/msg/ActionPhase | 30 Hz |
| /ego/zed_head/depth/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/depth/image/compressed | sensor_msgs/msg/CompressedImage | 30 Hz |
| /ego/zed_head/imu/data | sensor_msgs/msg/Imu | 199.8 Hz |
| /ego/zed_head/left/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /ego/zed_head/odom | nav_msgs/msg/Odometry | 30 Hz |
| /ego/zed_head/right/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /hands/left/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/left/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/left/odom | nav_msgs/msg/Odometry | 30 Hz |
| /hands/right/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/right/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/right/odom | nav_msgs/msg/Odometry | 30 Hz |
| /tf | tf2_msgs/msg/TFMessage | 30 Hz |
| /tf_static | tf2_msgs/msg/TFMessage | 2.9 Hz |
| /wrist_left/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_left/imu/data | sensor_msgs/msg/Imu | 199.4 Hz |
| /wrist_right/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_right/imu/data | sensor_msgs/msg/Imu | 200 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.parquetThis category
hf sync $B/data/mopping_floor ./mopping_floorPreviews 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}}
}