| --- |
| pretty_name: SenseXperience Raw MCAP Sample Data |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| language: |
| - en |
| size_categories: |
| - n<1K |
| tags: |
| - video |
| - timeseries |
| - robotics |
| - embodied-ai |
| - multimodal |
| - egocentric |
| - mcap |
| - imu |
| - sensexperience |
| - ros2 |
| annotations_creators: |
| - expert-generated |
| --- |
| |
| # SenseXperience Raw MCAP Sample Data |
|
|
| Raw capture episodes from [SenseXperience](https://io-ai.tech/en/sensexperience/) ([IO-AI](https://io-ai.tech/en/)): 12 human motion episodes in ROS 2 MCAP, with 4× compressed video + head IMU. Format details: [data format reference](https://io-ai.tech/sensexperience/en/docs/reference-data-format/). |
|
|
| | Item | Value | |
| |------|-------| |
| | Episodes | 12 | |
| | Date | 2026-07-13 | |
| | Format | ROS 2 MCAP | |
| | Duration | ~63–100 s / episode | |
| | Modalities | 4 cameras (MJPEG) + head IMU (~120 Hz) | |
|
|
| ## Layout |
|
|
| ```text |
| episode_<id>_yyyy_mm_dd_hh_mm_ss/ |
| ├── *_mcap_0.mcap # ROS 2 MCAP bag |
| ├── metadata.yaml # start time, duration, topic counts |
| ├── device_meta.json # resolution, FPS, intrinsics/extrinsics |
| └── status/ # per-sensor recorder status |
| ``` |
|
|
| ## Episode List |
|
|
| | Episode | Task | Duration | Messages | |
| |---------|------|----------|----------| |
| | `episode_00327_2026_07_13_09_45_27` | Organizing the countertop | 1m 07s | 24,164 | |
| | `episode_00329_2026_07_13_09_52_33` | Pouring water | 1m 05s | 23,381 | |
| | `episode_00331_2026_07_13_10_03_23` | Printing | 1m 31s | 32,852 | |
| | `episode_00337_2026_07_13_11_27_48` | Chemistry experiment | 1m 05s | 23,578 | |
| | `episode_00338_2026_07_13_11_30_47` | Playing with toys | 1m 32s | 33,186 | |
| | `episode_00340_2026_07_13_11_35_32` | Folding clothes | 1m 40s | 36,152 | |
| | `episode_00341_2026_07_13_11_40_20` | Cleaning the litter box | 1m 14s | 26,630 | |
| | `episode_00344_2026_07_13_11_52_10` | Organizing product manuals | 1m 12s | 25,937 | |
| | `episode_00350_2026_07_13_14_52_00` | Measuring dimensions | 1m 04s | 23,203 | |
| | `episode_00351_2026_07_13_14_56_03` | Flower arranging | 1m 03s | 22,850 | |
| | `episode_00352_2026_07_13_14_59_43` | Plugging and unplugging data cables on a computer | 1m 04s | 23,058 | |
| | `episode_00355_2026_07_13_15_06_48` | Putting clothes into the washing machine | 1m 19s | 28,446 | |
|
|
| ## Quick Start |
|
|
| ```bash |
| pip install mcap mcap-ros2-support |
| mcap info episode_00351_2026_07_13_14_56_03/*_mcap_0.mcap |
| ``` |
|
|
| ```python |
| from mcap.reader import make_reader |
| |
| with open("episode_00351_2026_07_13_14_56_03/episode_00351_2026_07_13_14_56_03_trimmed_1783927430_mcap_0.mcap", "rb") as f: |
| summary = make_reader(f).get_summary() |
| for ch in summary.channels.values(): |
| print(ch.topic, summary.schemas[ch.schema_id].name) |
| ``` |
|
|
| ## Links |
|
|
| - Product: https://io-ai.tech/en/sensexperience/ |
| - Docs: https://io-ai.tech/sensexperience/en/ |
| - License: [Apache License 2.0](LICENSE) |
|
|
