Mesh Storage
Browse
Find files, inspect recordings, and replay MCAP data
Open Mesh Storage → Data to find files uploaded from the web, Python SDK, or devices. Switch between List, Timeline, and Folders views.
Folder layout
In Folders view, the root is uploads. Web uploads appear under web-uploads/, Python SDK uploads under sdk-uploads/, and Edge uploads under devices/<device-id>/. A folder appears when it contains data.
Click into a folder to see what's inside. Folders show their total size and a count of contained items.
Status badges
Every file shows a status badge that tells you what state it's in:
| Badge | What it means |
|---|---|
| Queued | The file has landed in object storage and is waiting to be processed |
| Ingesting | Alloy is parsing the MCAP and building queryable tables |
| Ingested | The file is queryable in the SQL Workbench and external Iceberg clients |
| Ingest failed | Something went wrong. Hover the badge for the reason and a suggested fix |
| Skipped | The file is stored but was not ingested |
Replay and Inspect work as soon as an MCAP file lands. You don't have to wait for ingest to finish.
Row actions
Select a file to open its detail panel. You can also use its context menu. Available actions include:
- Inspect: view channels, schemas, and message counts (MCAP files)
- Replay: open the file in the 3D replay viewer (MCAP files)
- Download: download the original file
- Export...: export topics from an MCAP file to other formats, such as video or point cloud files
- Delete: remove the file and its data from all Iceberg tables
Manage device settings from Mesh Storage → Devices.
Inspect
Click Inspect on any MCAP file to see what's inside without downloading it. The Topics tab lists each channel with its schema, message count, share of total messages, and encoding. Useful for quickly checking what data a recording contains.
Replay
Click Replay on any MCAP file to open it in the 3D replay viewer. The viewer renders sensor data, robot poses, and other visualisable topics directly in the browser. No local tooling is required.
This is the same replay viewer used for mission recordings. For a single MCAP file, select Suggest Layout to get a suggested set of 3D, camera, map, log, and time-series views based on the recording's topics. Review the selected topics, apply the layout, and inspect the result before selecting Save now to name and reuse it on later files.
You can also arrange panels manually. From a mission, ask Alloy in the chat to open Replay at a specific moment with the right panels already laid out. See Using the Chat → Replay.
ROS 2 diagnostics
Select an MCAP file, click Inspect, and open the Diagnostics tab to view health metrics recorded in that file.
Diagnostic levels (OK, WARN, ERROR, STALE) are plotted over time so you can correlate device health with mission events. Below the chart, a filterable list shows individual diagnostic messages with details.
Diagnostics looks for a topic whose name contains diagnostics or that uses the diagnostic_msgs/msg/DiagnosticArray schema. If the recording has no such topic, the diagnostics view shows no data.
ROS graph
Select an MCAP file, click Inspect, and open the Graph tab to visualise its node and topic graph. This shows which ROS nodes were active, what topics they published and subscribed to, and how data flowed through the system. The graph needs a /rosgraph channel in the recording.
Use the Filters panel to toggle system topics.
Useful for verifying your robot's configuration matches expectations, especially when debugging missing topics or unexpected node behaviour.