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Preview dashboard: egocentric and wrist views, depth, odometry and IMU, with the current action label. The full-resolution streams are in the MCAP.

Action timeline

3 labelled actions

Sensor streams in the MCAP

16 topics
MCAP topics, message schemas and rates
TopicSchemaRateMessages
/ego/cam_head/depth/camera_infosensor_msgs/msg/CameraInfo30 Hz8,101
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage30 Hz8,101
/ego/cam_head/imu/datasensor_msgs/msg/Imu198.9 Hz53,691
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo30 Hz8,101
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo30 Hz8,101
/ego/cam_head/odomnav_msgs/msg/Odometry30 Hz8,101
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo30 Hz8,101
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo30 Hz8,101
/tftf2_msgs/msg/TFMessage30 Hz8,101
/tf_statictf2_msgs/msg/TFMessage2.9 Hz793
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo30 Hz8,101
/wrist_left/image/compressedfoxglove.CompressedVideo30 Hz8,101
/wrist_left/imu/datasensor_msgs/msg/Imu198.9 Hz53,703
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo30 Hz8,101
/wrist_right/image/compressedfoxglove.CompressedVideo30 Hz8,101
/wrist_right/imu/datasensor_msgs/msg/Imu199.3 Hz53,810

Annotation

8d6134e389dc85f21eb5170bf3a43c34.json
{
  "category": "Assembly & Joining",
  "duration_s": 270,
  "segments": [
    {
      "start_s": 0,
      "end_s": 51,
      "title": "Attaching fan blade to motor",
      "description": "The worker picks up fan blades and attaches them to the motor shaft."
    },
    {
      "start_s": 51,
      "end_s": 71,
      "title": "Securing fan blade with fasteners",
      "description": "The worker picks up fasteners and uses a power tool to secure the fan blade to the motor."
    },
    {
      "start_s": 71,
      "end_s": 79,
      "title": "Idle"
    },
    {
      "start_s": 79,
      "end_s": 270,
      "title": "Assembling fan blades onto unit",
      "description": "The worker picks up fan blades, attaches them to the motor shaft, and secures them with a tool."
    }
  ]
}

More samples