Mopping office floor
31 actions7 skillsMCAP 4.2 GB
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
1,595 clips
31 actions7 skillsMCAP 4.2 GB
31 actions14 skillsMCAP 5.0 GB
31 actions30 skillsMCAP 6.1 GB
31 actions22 skillsMCAP 7.7 GB
30 actions21 skillsMCAP 2.6 GB
30 actions28 skillsMCAP 4.0 GB
30 actions20 skillsMCAP 3.9 GB
30 actions9 skillsMCAP 4.3 GB
30 actions17 skillsMCAP 5.4 GB
30 actions17 skillsMCAP 3.1 GB
30 actions13 skillsMCAP 3.1 GB
30 actions18 skillsMCAP 3.8 GB
29 actions16 skillsMCAP 2.9 GB
29 actions10 skillsMCAP 4.7 GB
29 actions17 skillsMCAP 4.3 GB
29 actions14 skillsMCAP 2.9 GB
29 actions16 skillsMCAP 8.8 GB
29 actions9 skillsMCAP 3.6 GB
29 actions11 skillsMCAP 4.8 GB
29 actions10 skillsMCAP 5.6 GB
28 actions7 skillsMCAP 2.9 GB
28 actions8 skillsMCAP 3.2 GB
28 actions22 skillsMCAP 4.6 GB
28 actions17 skillsMCAP 5.2 GB
| 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 |
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.
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquethf sync $B/data/mopping_floor ./mopping_floorhf sync $B/data ./egoviz --include "*.mp4" --include "*.json"@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}}
}