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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 Hz6,480
/ego/cam_head/depth/image/compressedsensor_msgs/msg/CompressedImage30 Hz6,480
/ego/cam_head/imu/datasensor_msgs/msg/Imu199.6 Hz43,108
/ego/cam_head/left/camera_infosensor_msgs/msg/CameraInfo30 Hz6,480
/ego/cam_head/left/image/compressedfoxglove.CompressedVideo30 Hz6,480
/ego/cam_head/odomnav_msgs/msg/Odometry30 Hz6,480
/ego/cam_head/right/camera_infosensor_msgs/msg/CameraInfo30 Hz6,480
/ego/cam_head/right/image/compressedfoxglove.CompressedVideo30 Hz6,480
/tftf2_msgs/msg/TFMessage30 Hz6,480
/tf_statictf2_msgs/msg/TFMessage2.9 Hz634
/wrist_left/image/camera_infosensor_msgs/msg/CameraInfo30 Hz6,480
/wrist_left/image/compressedfoxglove.CompressedVideo30 Hz6,480
/wrist_left/imu/datasensor_msgs/msg/Imu199.9 Hz43,170
/wrist_right/image/camera_infosensor_msgs/msg/CameraInfo30 Hz6,480
/wrist_right/image/compressedfoxglove.CompressedVideo30 Hz6,480
/wrist_right/imu/datasensor_msgs/msg/Imu199.4 Hz43,076

Annotation

0e6c8cfbba95a8c20f8c17952f68d152.json
{
  "category": "Sorting & Organising",
  "duration_s": 216,
  "segments": [
    {
      "start_s": 0,
      "end_s": 83,
      "title": "Sorting plastic containers into bins",
      "description": "The worker sorts clear plastic containers by moving them between different bins."
    },
    {
      "start_s": 83,
      "end_s": 98,
      "title": "Idle"
    },
    {
      "start_s": 98,
      "end_s": 129,
      "title": "Stocking shelves with packaged items",
      "description": "The worker takes packaged items from a bin and places them into clear containers on shelves."
    },
    {
      "start_s": 129,
      "end_s": 138,
      "title": "Idle"
    },
    {
      "start_s": 138,
      "end_s": 216,
      "title": "Organizing items and containers on shelves",
      "description": "The worker sorts empty plastic containers into a bin and places packaged items into containers on shelves."
    }
  ]
}