Skip to content

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/CameraInfo29.8 Hz7,492
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage29.8 Hz7,492
/ego/cam_head/imu/datasensor_msgs/msg/Imu198.6 Hz49,853
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo29.8 Hz7,492
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo29.8 Hz7,492
/ego/cam_head/odomnav_msgs/msg/Odometry29.8 Hz7,492
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo29.8 Hz7,492
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo29.8 Hz7,492
/tftf2_msgs/msg/TFMessage29.8 Hz7,492
/tf_statictf2_msgs/msg/TFMessage2.9 Hz737
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo29.9 Hz7,493
/wrist_left/image/compressedfoxglove.CompressedVideo29.9 Hz7,493
/wrist_left/imu/datasensor_msgs/msg/Imu198.9 Hz49,920
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo29.8 Hz7,492
/wrist_right/image/compressedfoxglove.CompressedVideo29.8 Hz7,492
/wrist_right/imu/datasensor_msgs/msg/Imu198.7 Hz49,882

Annotation

8c562556d2e2d99d492b3abcc3981c0e.json
{
  "category": "Machine Operation",
  "duration_s": 251,
  "segments": [
    {
      "start_s": 0,
      "end_s": 90,
      "title": "Performing diagnostic tests on refrigerators",
      "description": "The worker operates the safety inspection system and connects probes and cables to refrigerators to perform diagnostic tests."
    },
    {
      "start_s": 90,
      "end_s": 100,
      "title": "Idle"
    },
    {
      "start_s": 100,
      "end_s": 180,
      "title": "Operating safety inspection system",
      "description": "The worker connects probes to the control panel and operates the safety inspection system."
    },
    {
      "start_s": 180,
      "end_s": 251,
      "title": "Processing items at inspection station",
      "description": "The worker operates the safety inspection system and pushes items along the conveyor."
    }
  ]
}

More samples