This dataset consists of inertial, force, color, and LiDAR data collected from a novel sensor system. The system comprises three Inertial Measurement Units (IMUs) positioned on the waist and atop each foot, a color sensor on each outer foot, a LiDAR on the back of each shank, and a custom Force-Sensing Resistor (FSR) insole featuring 13 FSRs in each shoe. 20 participants wore this sensor system whilst performing 38 combinations of 11 activities on 9 different terrains, totaling over 7.8 hours of data.