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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

6 labelled actions

Sensor streams in the MCAP

16 topics
MCAP topics, message schemas and rates
TopicSchemaRateMessages
/ego/cam_head/depth/camera_infosensor_msgs/msg/CameraInfo29.6 Hz7,942
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage29.6 Hz7,942
/ego/cam_head/imu/datasensor_msgs/msg/Imu198.8 Hz53,279
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo29.6 Hz7,942
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo29.6 Hz7,942
/ego/cam_head/odomnav_msgs/msg/Odometry29.6 Hz7,942
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo29.6 Hz7,942
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo29.6 Hz7,942
/tftf2_msgs/msg/TFMessage29.6 Hz7,942
/tf_statictf2_msgs/msg/TFMessage2.9 Hz788
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo29.6 Hz7,942
/wrist_left/image/compressedfoxglove.CompressedVideo29.6 Hz7,942
/wrist_left/imu/datasensor_msgs/msg/Imu199 Hz53,322
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo29.6 Hz7,943
/wrist_right/image/compressedfoxglove.CompressedVideo29.6 Hz7,943
/wrist_right/imu/datasensor_msgs/msg/Imu199.2 Hz53,396

Annotation

cef1347b2a35e513e84d9240fd2a79ca.json
{
  "category": "Electrical & Wiring",
  "duration_s": 268,
  "segments": [
    {
      "start_s": 0,
      "end_s": 44,
      "title": "Securing and connecting appliance wires",
      "description": "The worker secures wires with zip ties and connects additional wires to the appliance."
    },
    {
      "start_s": 44,
      "end_s": 72,
      "title": "Preparing and connecting control panel",
      "description": "The worker prepares a control panel and connects it to the appliance, routing its wires."
    },
    {
      "start_s": 72,
      "end_s": 142,
      "title": "Connecting and organizing appliance wires",
      "description": "The worker connects and organizes various wires and cables under the appliance, securing them with zip ties."
    },
    {
      "start_s": 142,
      "end_s": 149,
      "title": "Idle"
    },
    {
      "start_s": 149,
      "end_s": 179,
      "title": "Gathering and sorting wire bundles",
      "description": "The worker gathers various wire bundles from bins and sorts them for assembly."
    },
    {
      "start_s": 179,
      "end_s": 180,
      "title": "Idle"
    },
    {
      "start_s": 180,
      "end_s": 232,
      "title": "Connecting and routing appliance wiring",
      "description": "The worker connects various electrical components and routes the associated wiring within the appliance."
    },
    {
      "start_s": 232,
      "end_s": 268,
      "title": "Securing appliance wires with zip ties",
      "description": "The worker uses zip ties to secure the electrical wires and cables inside the appliance."
    }
  ]
}

More samples