Aria Digital Twin to MCAP: Load ADT Episodes in FiftyOne

Aria Digital Twin, a Meta Reality Labs research dataset of egocentric recordings in digitized indoor environments, provides Project Aria VRS files and separate ground-truth downloads containing synchronized imagery, annotations, device poses, eye gaze, point clouds, depth, segmentation, synthetic renders, and IMU data. The walkthrough explains how to download one licensed episode, arrange its files for Meta’s data provider, convert its modalities into 12 Foxglove-schema channels in a single MCAP container, reorder messages chronologically for smooth playback, and load the result directly as a multimodal sample in FiftyOne. Key technical considerations include converting ADT’s Y-up coordinates for Z-up viewers, rotating images and 2D boxes consistently, republishing point clouds so they remain visible during playback, retaining static 3D boxes only once to reduce file size and rendering work, and validating geometry beyond basic integrity checks. For a 145-second episode, the process combines roughly 12.4 GB of source files into a 2.5 GB MCAP containing 181,444 synchronized messages, while emphasizing that Meta’s non-commercial license prohibits redistribution or public display of the original data and derived MCAP files.

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