Ingest containers — MCAP, multi-modal HDF5, cloud buckets

Use this recipe when a customer hands you a third-party recording — an MCAP/ROS 2 bag, an ALOHA/ACT .h5 episode drop, or a cloud-bucket prefix — and wants Euler to turn it into inspectable, scored episodes.

MCAP payloads are decoded (CDR/ros2msg): the busiest telemetry topic becomes per-frame data, every topic contributes a per-stream timing summary (rate + offset vs the primary clock), and readiness scores the actual action values. ALOHA and HOMIE .h5 files are auto-detected structurally — register the directory and run.

For HOMIE-shaped egocentric recordings, Euler preserves the video-rate mocap/SLAM timeline and the native-rate IMU as separate artifacts. The ingest receipt records source-clock cadence, video/IMU keyframe residuals, content-based sub-frame correlation, Welch spectral evidence, Allan deviation when the recording is long enough, companion-video frame counts, calibration/depth inventory, and caption structure. These are immutable measurements; a certification policy decides what is ideal, reviewable, or failing later.

A publicly-readable gs:// bucket needs no credentials at all:

euler source add drive-program --id encord-bdd --format assets \
  --uri gs://enc-techint-datasets/ds-challenge-bddfde26/10k/train/a

Register the project and source

euler project create warehouse-arm --name "Warehouse Arm"
euler source add warehouse-arm --id shift-2026-05-25 --format mcap --uri file:///data/shift.mcap

Map topics

Euler keeps topic mapping explicit so schema uncertainty is visible before it can affect exported training data. When confidence is low, the hosted command-led run routes the step through an approval checkpoint.

Run and inspect

euler run warehouse-arm shift-2026-05-25

The run emits inventories, health reports, aligned episode candidates, quality reports, and readiness receipts.

Export accepted data

euler export warehouse-arm --out ./export

Exports include lineage and receipt sidecars so downstream training jobs can verify where data came from.

For report-only training-readiness work, create a workspace with the data-assessment use case and follow the Data Assessment guide.