Raw capture episodes from SenseXperience (IO-AI): 12 human motion episodes in ROS 2 MCAP, with 4× compressed video + head IMU. Format details: data format reference.

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

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

pip install mcap mcap-ros2-support
mcap info episode_00351_2026_07_13_14_56_03/*_mcap_0.mcap

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)

SenseXperience Raw MCAP Sample Data

Layout

Episode List

Quick Start

Links