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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

4 labelled actions

Sensor streams in the MCAP

16 topics
MCAP topics, message schemas and rates
TopicSchemaRateMessages
/ego/cam_head/depth/camera_infosensor_msgs/msg/CameraInfo29.7 Hz8,077
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage29.7 Hz8,077
/ego/cam_head/imu/datasensor_msgs/msg/Imu199.2 Hz54,175
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo29.7 Hz8,077
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo29.7 Hz8,077
/ego/cam_head/odomnav_msgs/msg/Odometry29.7 Hz8,077
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo29.7 Hz8,077
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo29.7 Hz8,077
/tftf2_msgs/msg/TFMessage29.7 Hz8,077
/tf_statictf2_msgs/msg/TFMessage2.9 Hz800
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo29.7 Hz8,076
/wrist_left/image/compressedfoxglove.CompressedVideo29.7 Hz8,076
/wrist_left/imu/datasensor_msgs/msg/Imu199.8 Hz54,337
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo29.7 Hz8,075
/wrist_right/image/compressedfoxglove.CompressedVideo29.7 Hz8,075
/wrist_right/imu/datasensor_msgs/msg/Imu199.6 Hz54,283

Annotation

4c71d1a4acfe1037b2c5be783bfc3763.json
{
  "category": "Finishing & Marking",
  "duration_s": 272,
  "segments": [
    {
      "start_s": 0,
      "end_s": 189,
      "title": "Applying labels to poster",
      "description": "The worker peels, positions, smooths, and trims a large label on the poster."
    },
    {
      "start_s": 189,
      "end_s": 192,
      "title": "Idle"
    },
    {
      "start_s": 192,
      "end_s": 207,
      "title": "Cleaning rectangular panel",
      "description": "The worker cleans a white rectangular panel with a cloth and spray."
    },
    {
      "start_s": 207,
      "end_s": 248,
      "title": "Applying label to rectangular panel",
      "description": "The worker positions, smooths, and trims a label with 'EFES' on a rectangular panel."
    },
    {
      "start_s": 248,
      "end_s": 256,
      "title": "Idle"
    },
    {
      "start_s": 256,
      "end_s": 272,
      "title": "Applying letter to panel",
      "description": "The worker peels the backing from a panel and applies a letter 'S' from a transfer sheet."
    }
  ]
}

More samples