0:15
Mopping shower stall floor
1 action2 skillsMCAP 190 MB
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
1:23
Mopping floor
1 action2 skillsMCAP 1.3 GB
1:25
Mopping classroom floor
1 action3 skillsMCAP 1.3 GB
0:23
Mopping hallway floor
1 action5 skillsMCAP 520 MB
0:51
Mopping office floor
1 action3 skillsMCAP 699 MB
0:20
Mopping office floor
1 action2 skillsMCAP 288 MB
0:29
Mopping mop
1 action3 skillsMCAP 452 MB
0:22
Mopping floor
1 action4 skillsMCAP 331 MB
0:58
Mopping building stairs
1 action3 skillsMCAP 907 MB
0:58
Mopping office floor with flat mop
1 action4 skillsMCAP 753 MB
1:23
Mopping floor
1 action2 skillsMCAP 1.1 GB
0:16
Rinsing mop in bucket
1 action2 skillsMCAP 346 MB
0:31
Mopping floor near glass door
1 action3 skillsMCAP 593 MB
0:27
Cleaning auditorium floor
1 action2 skillsMCAP 567 MB
0:16
Cleaning mop head
1 action4 skillsMCAP 246 MB
0:51
Mopping tiled floor
1 action1 skillMCAP 710 MB
1:19
Mopping wall base
1 action3 skillsMCAP 1.1 GB
0:28
Mopping lounge area floor
1 action1 skillMCAP 540 MB
0:16
Mopping entrance floor
1 action2 skillsMCAP 259 MB
1:01
Mopping the floor
1 action2 skillsMCAP 792 MB
0:43
Cleaning floor with mop
1 action2 skillsMCAP 649 MB
0:23
Mopping floor with flat mop
1 action1 skillMCAP 287 MB
1:29
Mopping lecture hall floor
1 action3 skillsMCAP 1.4 GB
1:06
Mopping tiled pool ledge
1 action2 skillsMCAP 1.5 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}}
}