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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 Hz8,325
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage30 Hz8,325
/ego/cam_head/imu/datasensor_msgs/msg/Imu198.4 Hz55,062
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo30 Hz8,325
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo30 Hz8,325
/ego/cam_head/odomnav_msgs/msg/Odometry30 Hz8,325
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo30 Hz8,325
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo30 Hz8,325
/tftf2_msgs/msg/TFMessage30 Hz8,325
/tf_statictf2_msgs/msg/TFMessage2.9 Hz816
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo30 Hz8,325
/wrist_left/image/compressedfoxglove.CompressedVideo30 Hz8,325
/wrist_left/imu/datasensor_msgs/msg/Imu199.5 Hz55,371
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo30 Hz8,325
/wrist_right/image/compressedfoxglove.CompressedVideo30 Hz8,325
/wrist_right/imu/datasensor_msgs/msg/Imu198.4 Hz55,048

Annotation

cbaa3f6c812d2770249d501a7b1e16ae.json
{
  "category": "Preparation & Teardown",
  "duration_s": 277.5,
  "segments": [
    {
      "start_s": 0,
      "end_s": 197.5,
      "title": "Preparing gas regulator packages",
      "description": "The worker attaches components to gas regulators, places them into boxes, and handles instruction papers."
    },
    {
      "start_s": 197.5,
      "end_s": 203.5,
      "title": "Idle"
    },
    {
      "start_s": 203.5,
      "end_s": 242.5,
      "title": "Opening box flaps",
      "description": "The worker opens the top flaps of several boxes on the table."
    },
    {
      "start_s": 242.5,
      "end_s": 252.5,
      "title": "Idle"
    },
    {
      "start_s": 252.5,
      "end_s": 277.5,
      "title": "Preparing gas regulator packages",
      "description": "The worker places papers on the table next to the gas regulator boxes."
    }
  ]
}

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