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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

5 labelled actions

Sensor streams in the MCAP

16 topics
MCAP topics, message schemas and rates
TopicSchemaRateMessages
/ego/cam_head/depth/camera_infosensor_msgs/msg/CameraInfo29.5 Hz8,085
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage29.5 Hz8,085
/ego/cam_head/imu/datasensor_msgs/msg/Imu200 Hz54,802
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo29.5 Hz8,085
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo29.5 Hz8,085
/ego/cam_head/odomnav_msgs/msg/Odometry29.5 Hz8,085
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo29.5 Hz8,085
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo29.5 Hz8,085
/tftf2_msgs/msg/TFMessage29.5 Hz8,085
/tf_statictf2_msgs/msg/TFMessage2.9 Hz807
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo29.5 Hz8,087
/wrist_left/image/compressedfoxglove.CompressedVideo29.5 Hz8,087
/wrist_left/imu/datasensor_msgs/msg/Imu200.2 Hz54,846
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo29.5 Hz8,071
/wrist_right/image/compressedfoxglove.CompressedVideo29.5 Hz8,071
/wrist_right/imu/datasensor_msgs/msg/Imu199 Hz54,530

Annotation

f6b4d224ab6278b29b6e2bf893dbe0c1.json
{
  "category": "Cleaning & Maintenance",
  "duration_s": 274,
  "segments": [
    {
      "start_s": 0,
      "end_s": 96,
      "title": "Cleaning debris from machine",
      "description": "The worker uses a tool to scrape debris from the underside of the machine."
    },
    {
      "start_s": 96,
      "end_s": 100,
      "title": "Idle"
    },
    {
      "start_s": 100,
      "end_s": 160,
      "title": "Sweeping debris into bin",
      "description": "The worker sweeps debris from the factory floor into a blue collection bin."
    },
    {
      "start_s": 160,
      "end_s": 212,
      "title": "Sweeping and collecting debris from floor",
      "description": "The worker sweeps debris from the factory floor and collects it into a bin using a dustpan and broom."
    },
    {
      "start_s": 212,
      "end_s": 249,
      "title": "Cleaning debris from collection bin",
      "description": "The worker uses a broom and dustpan to clean debris from inside a collection bin and transfers it to a trash bin."
    },
    {
      "start_s": 249,
      "end_s": 250,
      "title": "Idle"
    },
    {
      "start_s": 250,
      "end_s": 274,
      "title": "Sweeping debris into trash bin",
      "description": "The worker sweeps debris from a collection bin and the floor into a trash bin."
    }
  ]
}