diff --git a/12/episode_info.json b/12/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a6333090e55df1e13d7ffe9566b3db11b57394
--- /dev/null
+++ b/12/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 12,
+ "timestamp": "2026-07-03T08:37:56Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.721532405
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/12/metadata.yaml b/12/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6e28203ea380081ce3ddb6416ea0a5e63e2a565b
--- /dev/null
+++ b/12/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13721532405
+ starting_time:
+ nanoseconds_since_epoch: 1783067862405168146
+ message_count: 12285
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1373
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1371
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1373
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1373
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1373
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1373
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1373
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2676
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 12_0.mcap
+ files:
+ - path: 12_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067862405168146
+ duration:
+ nanoseconds: 13721532405
+ message_count: 12285
+ custom_data: null
+ ros_distro: jazzy
diff --git a/12/robot.urdf b/12/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/12/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/15/episode_info.json b/15/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6434a3216dc9fb114d65d8f18e520c0d68624b
--- /dev/null
+++ b/15/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 15,
+ "timestamp": "2026-07-03T08:39:00Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.040377675
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/15/metadata.yaml b/15/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5e83a36bc3252caf79bcdf904545dafb0d9c7d27
--- /dev/null
+++ b/15/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13040377675
+ starting_time:
+ nanoseconds_since_epoch: 1783067927779343839
+ message_count: 11671
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1304
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1304
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1305
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1305
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1304
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1304
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1304
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2541
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 15_0.mcap
+ files:
+ - path: 15_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067927779343839
+ duration:
+ nanoseconds: 13040377675
+ message_count: 11671
+ custom_data: null
+ ros_distro: jazzy
diff --git a/15/robot.urdf b/15/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/15/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/17/camera_info/cam_left_head.yaml b/17/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ed5e9796c74199c7b7218e23263535e4c280985b
--- /dev/null
+++ b/17/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783067985
+ nanosec: 441420484
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/17/camera_info/cam_left_wrist.yaml b/17/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e8d838c006ce520284e53be0db9981016707548b
--- /dev/null
+++ b/17/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783067985
+ nanosec: 436174316
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/17/camera_info/cam_right_head.yaml b/17/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25d5e5006e7a6945e0882aba03ff158170dc5268
--- /dev/null
+++ b/17/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783067985
+ nanosec: 441420484
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/17/camera_info/cam_right_wrist.yaml b/17/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e57ec7c91dc2f6ed07b3e60f68b871e4c955fd48
--- /dev/null
+++ b/17/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783067985
+ nanosec: 419513428
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/17/camera_info/camera_metadata.yaml b/17/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/17/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/17/videos/17_0/cam_left_head_recorder_stats.json b/17/videos/17_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9546a4696973511592888d63ae23263ee8dda3
--- /dev/null
+++ b/17/videos/17_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783067971850719667,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783067985515620325,
+ "max_callback_queue_bytes": 165089,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 367586,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 2402573,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 165089,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8913939,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 260156459,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/17/videos/17_0/cam_left_wrist_recorder_stats.json b/17/videos/17_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d18d7e916deeaf0150062c954b7b37330f68da
--- /dev/null
+++ b/17/videos/17_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783067971889270735,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783067985524045717,
+ "max_callback_queue_bytes": 73324,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 79008,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 2106796,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73324,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5945346,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 198645195,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/17/videos/17_0/cam_right_head_recorder_stats.json b/17/videos/17_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d8cf9201d9914aed75dd6c03fa79f5e0241122d
--- /dev/null
+++ b/17/videos/17_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783067971861622353,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783067985529949527,
+ "max_callback_queue_bytes": 163056,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 44320,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 669412,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163056,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 6462085,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 286518881,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/17/videos/17_0/cam_right_wrist_recorder_stats.json b/17/videos/17_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fbcbc9b2f6cb07c80cf7302da619cea28aff981
--- /dev/null
+++ b/17/videos/17_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783067971861078926,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783067985498427299,
+ "max_callback_queue_bytes": 67881,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 19937,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 2887249,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 67881,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 6164803,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 226547179,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/19/episode_info.json b/19/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..39619f14267603b55ce8c0162a6b2369767e4672
--- /dev/null
+++ b/19/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 19,
+ "timestamp": "2026-07-03T08:40:27Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.745051387
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/19/metadata.yaml b/19/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d9eb375dd3e2bbcd6105c8a888224c7a39de24e9
--- /dev/null
+++ b/19/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13745051387
+ starting_time:
+ nanoseconds_since_epoch: 1783068013585179169
+ message_count: 12310
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1375
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1375
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1374
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1375
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1375
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1375
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1375
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2686
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 19_0.mcap
+ files:
+ - path: 19_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068013585179169
+ duration:
+ nanoseconds: 13745051387
+ message_count: 12310
+ custom_data: null
+ ros_distro: jazzy
diff --git a/19/robot.urdf b/19/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/19/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/23/camera_info/cam_right_head.yaml b/23/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..91da5a3a38f69643bde09950a0050490d7c80245
--- /dev/null
+++ b/23/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068196
+ nanosec: 451774908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/23/camera_info/camera_metadata.yaml b/23/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/23/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/24/camera_info/cam_left_head.yaml b/24/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..11c83c3221b61eb378d76bd28c3adab3613eb3c0
--- /dev/null
+++ b/24/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068213
+ nanosec: 919123908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/cam_left_wrist.yaml b/24/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54c208ce815ca8f6647736a1004b5ce860993f18
--- /dev/null
+++ b/24/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068213
+ nanosec: 905435303
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/cam_right_head.yaml b/24/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6c655d36071870376a3e45774990532483754098
--- /dev/null
+++ b/24/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068213
+ nanosec: 919123908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/cam_right_wrist.yaml b/24/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e20de9cd12986a60b926ac8ff295e29c8b9c8028
--- /dev/null
+++ b/24/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068213
+ nanosec: 893299316
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/camera_metadata.yaml b/24/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/24/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/24/videos/24_0/cam_left_head_recorder_stats.json b/24/videos/24_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11496259ace585dc9320203acf5e86cbf14dd05
--- /dev/null
+++ b/24/videos/24_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068200405963640,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 205,
+ "frames_received": 205,
+ "frames_remuxed": 205,
+ "frames_written": 205,
+ "last_recv_ns": 1783068213995218683,
+ "max_callback_queue_bytes": 163771,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 54400,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 6704294,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163771,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 6472261,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 268426329,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/24/videos/24_0/cam_left_wrist_recorder_stats.json b/24/videos/24_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1d30b2b0d8f0d18c074e4b335995b509c46571
--- /dev/null
+++ b/24/videos/24_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068200412363613,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 205,
+ "frames_received": 205,
+ "frames_remuxed": 205,
+ "frames_written": 205,
+ "last_recv_ns": 1783068213986858924,
+ "max_callback_queue_bytes": 72494,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 48320,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 5225438,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 72494,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5781537,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 232985263,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/24/videos/24_0/cam_right_head_recorder_stats.json b/24/videos/24_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a24100e3496284d5d5cb99de7b0881bfbdc992
--- /dev/null
+++ b/24/videos/24_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068200414857515,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 205,
+ "frames_received": 205,
+ "frames_remuxed": 205,
+ "frames_written": 205,
+ "last_recv_ns": 1783068214006363803,
+ "max_callback_queue_bytes": 163342,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 284577,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 4167384,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163342,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9156404,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 275273184,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/24/videos/24_0/cam_right_wrist_recorder_stats.json b/24/videos/24_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..964617be2a2c6b573dc8e3b423e34a6d13ae5ce5
--- /dev/null
+++ b/24/videos/24_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068200394262134,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 205,
+ "frames_received": 205,
+ "frames_remuxed": 205,
+ "frames_written": 205,
+ "last_recv_ns": 1783068213974590822,
+ "max_callback_queue_bytes": 73248,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 17568,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 3002513,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73248,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8921971,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 210920689,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/29/camera_info/cam_left_head.yaml b/29/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0a805843753d8ed67ca46bbbe4db20e16e21d7dc
--- /dev/null
+++ b/29/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068304
+ nanosec: 56599908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/cam_left_wrist.yaml b/29/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..36aa7bb258ca4bc2aecabf06e1c9ad493a63ab03
--- /dev/null
+++ b/29/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068304
+ nanosec: 76357422
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/cam_right_head.yaml b/29/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..45fcfd4ae875c51ce4218fe298d2b08f4fdfdda7
--- /dev/null
+++ b/29/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068304
+ nanosec: 56599908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/cam_right_wrist.yaml b/29/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..06f9710829609235a4718e44c3d7e40096d93c38
--- /dev/null
+++ b/29/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068304
+ nanosec: 62951660
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/camera_metadata.yaml b/29/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/29/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/29/videos/29_0/cam_left_head_recorder_stats.json b/29/videos/29_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b31a23719982bba4179ea3f619d9fcfa0d97c54
--- /dev/null
+++ b/29/videos/29_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068290135463667,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 211,
+ "frames_received": 211,
+ "frames_remuxed": 211,
+ "frames_written": 211,
+ "last_recv_ns": 1783068304131019521,
+ "max_callback_queue_bytes": 163933,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 1484329,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 2412301,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163933,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9066964,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 269668576,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/29/videos/29_0/cam_left_wrist_recorder_stats.json b/29/videos/29_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a319c9c8698e7e947969e238c6d37aaeb65fdc58
--- /dev/null
+++ b/29/videos/29_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068290175432663,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 211,
+ "frames_received": 211,
+ "frames_remuxed": 211,
+ "frames_written": 211,
+ "last_recv_ns": 1783068304159090529,
+ "max_callback_queue_bytes": 72198,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 45984,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 940613,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 72198,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5786081,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 202941668,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/29/videos/29_0/cam_right_head_recorder_stats.json b/29/videos/29_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d2a06bb406c87c346b83498d57ff3e627158fdd
--- /dev/null
+++ b/29/videos/29_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068290143848451,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 211,
+ "frames_received": 211,
+ "frames_remuxed": 211,
+ "frames_written": 211,
+ "last_recv_ns": 1783068304146172152,
+ "max_callback_queue_bytes": 161586,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 21888,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 7674732,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 161586,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8856402,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 251875068,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/29/videos/29_0/cam_right_wrist_recorder_stats.json b/29/videos/29_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2a5c3d1b36017d8d569269351a234fee241994
--- /dev/null
+++ b/29/videos/29_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068290175677432,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 211,
+ "frames_received": 211,
+ "frames_remuxed": 211,
+ "frames_written": 211,
+ "last_recv_ns": 1783068304146431545,
+ "max_callback_queue_bytes": 72464,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 27712,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1079079,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 72464,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8065966,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 191725540,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/3/episode_info.json b/3/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b958c7694217aa8c18a3e998466f9efe54ddda96
--- /dev/null
+++ b/3/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 3,
+ "timestamp": "2026-07-03T08:34:36Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.941487192
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/3/metadata.yaml b/3/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9784df80e8829d44214abc7465aeba7487e8a97d
--- /dev/null
+++ b/3/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12941487192
+ starting_time:
+ nanoseconds_since_epoch: 1783067663405187099
+ message_count: 11585
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1294
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1294
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1294
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1294
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1294
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1294
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1295
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2526
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 3_0.mcap
+ files:
+ - path: 3_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067663405187099
+ duration:
+ nanoseconds: 12941487192
+ message_count: 11585
+ custom_data: null
+ ros_distro: jazzy
diff --git a/3/robot.urdf b/3/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/3/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/30/camera_info/cam_left_head.yaml b/30/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..39c536dc517d981f95469fcdb6c4ea7afa877ac7
--- /dev/null
+++ b/30/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068321
+ nanosec: 391246908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/30/camera_info/cam_left_wrist.yaml b/30/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7c62855e4865c721696bbc4fc4c361e6e3fe1293
--- /dev/null
+++ b/30/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068321
+ nanosec: 323302979
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/30/camera_info/cam_right_head.yaml b/30/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..329a887b28e48328e1a41de1077e464ffcf83f64
--- /dev/null
+++ b/30/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068321
+ nanosec: 324230908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/30/camera_info/cam_right_wrist.yaml b/30/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..12043a883390d665736fcd02082281b534b9a121
--- /dev/null
+++ b/30/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068321
+ nanosec: 375837158
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/30/camera_info/camera_metadata.yaml b/30/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/30/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/30/videos/30_0/cam_left_head_recorder_stats.json b/30/videos/30_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdaae7ad527368f3e77c06f9b7113f04dc0232e2
--- /dev/null
+++ b/30/videos/30_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068307757687581,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783068321405318541,
+ "max_callback_queue_bytes": 163357,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 52192,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 916741,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163357,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9052756,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 249600494,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/30/videos/30_0/cam_left_wrist_recorder_stats.json b/30/videos/30_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f60db4c3c6bab0060720f417aaea2fa0ca97c5a
--- /dev/null
+++ b/30/videos/30_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068307766639952,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783068321406705269,
+ "max_callback_queue_bytes": 71441,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 2060811,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 796772,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 71441,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 6351972,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 264671587,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/30/videos/30_0/cam_right_head_recorder_stats.json b/30/videos/30_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efbc723e9089ffba0e884a44a55ce46a52c80e2
--- /dev/null
+++ b/30/videos/30_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068307775843077,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783068321414786627,
+ "max_callback_queue_bytes": 161869,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 17024,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 6508037,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 161869,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 7414570,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 292178786,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/30/videos/30_0/cam_right_wrist_recorder_stats.json b/30/videos/30_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6424e9aa530689e7dd633c7707eb34d8069d4e4
--- /dev/null
+++ b/30/videos/30_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068307746237020,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 206,
+ "frames_received": 206,
+ "frames_remuxed": 206,
+ "frames_written": 206,
+ "last_recv_ns": 1783068321394880466,
+ "max_callback_queue_bytes": 70858,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 900741,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1230951,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 70858,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9948344,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 177503090,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/34/episode_info.json b/34/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f542ddb2bda1382d8fe7c7290e25ad5b1868dd
--- /dev/null
+++ b/34/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 34,
+ "timestamp": "2026-07-03T08:46:31Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.370712166
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/34/metadata.yaml b/34/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1ddc71bfef248add9cc14d4f5246d88a11bd80bc
--- /dev/null
+++ b/34/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13370712166
+ starting_time:
+ nanoseconds_since_epoch: 1783068377609349047
+ message_count: 11974
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1338
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2608
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 34_0.mcap
+ files:
+ - path: 34_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068377609349047
+ duration:
+ nanoseconds: 13370712166
+ message_count: 11974
+ custom_data: null
+ ros_distro: jazzy
diff --git a/35/camera_info/cam_left_head.yaml b/35/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fa2a7d33a961f26ccea7170a2979f082e25b4834
--- /dev/null
+++ b/35/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068406
+ nanosec: 261856908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/35/camera_info/cam_left_wrist.yaml b/35/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b51658df092a980b0ad67a14a562f0405784a73c
--- /dev/null
+++ b/35/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068406
+ nanosec: 232126465
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/35/camera_info/cam_right_head.yaml b/35/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b2c6db79347738897200fcd7f614b45e32c6f190
--- /dev/null
+++ b/35/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068406
+ nanosec: 261856908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/35/camera_info/cam_right_wrist.yaml b/35/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b83dc35645b99cce87f69a402b9de2c86a54828b
--- /dev/null
+++ b/35/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068406
+ nanosec: 285715332
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/35/camera_info/camera_metadata.yaml b/35/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/35/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/35/videos/35_0/cam_left_head_recorder_stats.json b/35/videos/35_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df5b110ef725234efb7838ad83b5523bfe33031
--- /dev/null
+++ b/35/videos/35_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
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+ "frames_remuxed": 186,
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+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 12133414,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 228302868,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/35/videos/35_0/cam_left_wrist_recorder_stats.json b/35/videos/35_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f903f41608fd7ec5bdaf2968ae2510a2945ef2bd
--- /dev/null
+++ b/35/videos/35_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
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+ "first_recv_ns": 1783068394003858157,
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+ "frames_remuxed": 186,
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+ "max_callback_queue_items": 1,
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+ "max_raw_queue_bytes": 71938,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 7638731,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 224284957,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
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+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/35/videos/35_0/cam_right_head_recorder_stats.json b/35/videos/35_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a618c63dada6c761c8eb0e16f6d97fec7158b4ce
--- /dev/null
+++ b/35/videos/35_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068394014022759,
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+ "frames_metadata_written": 186,
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+ "frames_remuxed": 186,
+ "frames_written": 186,
+ "last_recv_ns": 1783068406346297679,
+ "max_callback_queue_bytes": 162543,
+ "max_callback_queue_items": 1,
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+ "max_metadata_flush_ns": 906021,
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+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 6421573,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 299139048,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/35/videos/35_0/cam_right_wrist_recorder_stats.json b/35/videos/35_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec4a8606000d8557c213733f211ae1698a1d515
--- /dev/null
+++ b/35/videos/35_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
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+ "first_recv_ns": 1783068393995229564,
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+ "frames_metadata_written": 186,
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+ "frames_remuxed": 186,
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+ "last_recv_ns": 1783068406300764043,
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+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 11420801,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 244244624,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/35/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
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+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/39/camera_info/cam_left_head.yaml b/39/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..60dcbadf223cde4269a47e93d6480852120a8268
--- /dev/null
+++ b/39/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068471
+ nanosec: 864969908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
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+- 735.4571533203125
+- 361.1747131347656
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+r:
+- 1.0
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+- 735.4571533203125
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+- 361.1747131347656
+- 0.0
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+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/39/camera_info/cam_left_wrist.yaml b/39/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1dd197a021aa57ec75ed5beb25082295c3e94413
--- /dev/null
+++ b/39/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068471
+ nanosec: 828411133
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
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+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/39/camera_info/cam_right_head.yaml b/39/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..568880ba229a729f1513c229cdd602c3d6cb2225
--- /dev/null
+++ b/39/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068471
+ nanosec: 864969908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
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+k:
+- 735.4571533203125
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+- 625.3748779296875
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+- 735.4571533203125
+- 361.1747131347656
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+- 1.0
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+- 735.4571533203125
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+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/39/camera_info/cam_right_wrist.yaml b/39/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e65e99231b32d8eae52893404077a90ed836a5c6
--- /dev/null
+++ b/39/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068471
+ nanosec: 880903809
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
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+- 391.7255859375
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+- 1.0
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+- 391.7255859375
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+roi:
+ x_offset: 0
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+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/39/camera_info/camera_metadata.yaml b/39/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/39/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/39/videos/39_0/cam_left_head_recorder_stats.json b/39/videos/39_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f003dae55f1a51bacb4a7e4842179f05f7cd93
--- /dev/null
+++ b/39/videos/39_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
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+ "first_recv_ns": 1783068458674040302,
+ "frames_dropped_invalid": 0,
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+ "frames_metadata_written": 200,
+ "frames_received": 200,
+ "frames_remuxed": 200,
+ "frames_written": 200,
+ "last_recv_ns": 1783068471937005870,
+ "max_callback_queue_bytes": 163588,
+ "max_callback_queue_items": 1,
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+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1654697,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163588,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5396959,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 250300434,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/39/videos/39_0/cam_left_wrist_recorder_stats.json b/39/videos/39_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d744a5d3498099ffa7c6bca7ea9c3a3d4755c9c
--- /dev/null
+++ b/39/videos/39_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068458665771711,
+ "frames_dropped_invalid": 0,
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+ "frames_received": 200,
+ "frames_remuxed": 200,
+ "frames_written": 200,
+ "last_recv_ns": 1783068471913478888,
+ "max_callback_queue_bytes": 73250,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 33920,
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+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1058982,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73250,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5847137,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 265942892,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/39/videos/39_0/cam_right_head_recorder_stats.json b/39/videos/39_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c6a413770138c05556d5559de36641a231df2c7
--- /dev/null
+++ b/39/videos/39_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
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+ "first_recv_ns": 1783068458680115633,
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+ "frames_remuxed": 200,
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+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5840801,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 285886716,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
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+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/39/videos/39_0/cam_right_wrist_recorder_stats.json b/39/videos/39_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaca15fccad09624152cc7e798e2552158b6cf44
--- /dev/null
+++ b/39/videos/39_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068458713046797,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 200,
+ "frames_received": 200,
+ "frames_remuxed": 200,
+ "frames_written": 200,
+ "last_recv_ns": 1783068471965358416,
+ "max_callback_queue_bytes": 73235,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 85409,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 831396,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73235,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 6355108,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 218109658,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/39/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/40/camera_info/cam_left_head.yaml b/40/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..afae831c3d85c641222b2e81353d9ac7b9b633ce
--- /dev/null
+++ b/40/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068487
+ nanosec: 465557908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/40/camera_info/cam_left_wrist.yaml b/40/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6abdad0a46348e9792af49795bed8d1fc72dc215
--- /dev/null
+++ b/40/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068487
+ nanosec: 477430908
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/40/camera_info/cam_right_head.yaml b/40/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8bfb29382629a3cf360b651be221dfd51af685e5
--- /dev/null
+++ b/40/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068487
+ nanosec: 465557908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/40/camera_info/cam_right_wrist.yaml b/40/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3df9025b2c1c644322a14da64bd7729505f723c4
--- /dev/null
+++ b/40/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068487
+ nanosec: 465011475
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/40/camera_info/camera_metadata.yaml b/40/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/40/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/40/videos/40_0/cam_left_head_recorder_stats.json b/40/videos/40_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf75fa053ec0f4f98a53695e1b1e2f3f0f77bf36
--- /dev/null
+++ b/40/videos/40_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068474874201649,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 191,
+ "frames_received": 191,
+ "frames_remuxed": 191,
+ "frames_written": 191,
+ "last_recv_ns": 1783068487537565943,
+ "max_callback_queue_bytes": 163812,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 39200,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1056134,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 163812,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9948856,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 318417877,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/40/videos/40_0/cam_left_wrist_recorder_stats.json b/40/videos/40_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c027ea079751113e6f2c95bb88f815d22c8ce9f1
--- /dev/null
+++ b/40/videos/40_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068474854118142,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 192,
+ "frames_received": 192,
+ "frames_remuxed": 192,
+ "frames_written": 192,
+ "last_recv_ns": 1783068487573757798,
+ "max_callback_queue_bytes": 73323,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 35200,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 5764385,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73323,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8953523,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 201921503,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/40/videos/40_0/cam_right_head_recorder_stats.json b/40/videos/40_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ddb252df9039bb38ee05591483cd9434cc6237
--- /dev/null
+++ b/40/videos/40_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068474887872639,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 191,
+ "frames_received": 191,
+ "frames_remuxed": 191,
+ "frames_written": 191,
+ "last_recv_ns": 1783068487546715115,
+ "max_callback_queue_bytes": 162333,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 3444723,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 966853,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 162333,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8931027,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 292162369,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/40/videos/40_0/cam_right_wrist_recorder_stats.json b/40/videos/40_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..259f759ccee698e29d9d5152d1132901d454e2c4
--- /dev/null
+++ b/40/videos/40_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068474829280529,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 192,
+ "frames_received": 192,
+ "frames_remuxed": 192,
+ "frames_written": 192,
+ "last_recv_ns": 1783068487545276099,
+ "max_callback_queue_bytes": 71934,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 2281965,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1173382,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 71934,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8277808,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 221064778,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/40/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/41/episode_info.json b/41/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..04083439325261ff942372744f729125c2b74cf8
--- /dev/null
+++ b/41/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 41,
+ "timestamp": "2026-07-03T08:48:23Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.770705611
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/41/metadata.yaml b/41/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..75efba7e8c4fad198c6a9c30762fd8fc27de5564
--- /dev/null
+++ b/41/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12770705611
+ starting_time:
+ nanoseconds_since_epoch: 1783068490879316667
+ message_count: 11442
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1278
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2496
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 41_0.mcap
+ files:
+ - path: 41_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068490879316667
+ duration:
+ nanoseconds: 12770705611
+ message_count: 11442
+ custom_data: null
+ ros_distro: jazzy
diff --git a/41/robot.urdf b/41/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/41/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/44/episode_info.json b/44/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a86a87e00ce299804103217355aa2dd47bac095
--- /dev/null
+++ b/44/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 44,
+ "timestamp": "2026-07-03T08:49:12Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.070484631
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/44/metadata.yaml b/44/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..37e3cdc455ae1c045bba31766fd8d8b4b8d36761
--- /dev/null
+++ b/44/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13070484631
+ starting_time:
+ nanoseconds_since_epoch: 1783068539709334366
+ message_count: 11704
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1307
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1307
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1307
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1307
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1307
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1307
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1308
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2554
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 44_0.mcap
+ files:
+ - path: 44_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068539709334366
+ duration:
+ nanoseconds: 13070484631
+ message_count: 11704
+ custom_data: null
+ ros_distro: jazzy
diff --git a/44/robot.urdf b/44/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/44/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/47/camera_info/cam_left_head.yaml b/47/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fd55883598fbdd10c24801646ba000916bfa4aa1
--- /dev/null
+++ b/47/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1783068602
+ nanosec: 337727908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/47/camera_info/cam_left_wrist.yaml b/47/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e734d5a95b5e48a530ee0e0276437fe61ead15ce
--- /dev/null
+++ b/47/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1783068602
+ nanosec: 354131836
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05390038341283798
+- 0.05999734625220299
+- -0.0001955493789864704
+- 0.00022923003416508436
+- -0.020182626321911812
+k:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 392.8999938964844
+- 0.0
+- 322.5819091796875
+- 0.0
+- 0.0
+- 392.46600341796875
+- 241.36207580566406
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/47/camera_info/cam_right_head.yaml b/47/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3db49b0bcf37ff97a8b12cf61efbf4b3c6fa137d
--- /dev/null
+++ b/47/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1783068602
+ nanosec: 337727908
+height: 720
+width: 1280
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 735.4571533203125
+- 0.0
+- 625.3748779296875
+- -46.180625915527344
+- 0.0
+- 735.4571533203125
+- 361.1747131347656
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/47/camera_info/cam_right_wrist.yaml b/47/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..942d695bbe009641093d1034eb83f3ea8e21fa58
--- /dev/null
+++ b/47/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1783068602
+ nanosec: 339234863
+height: 480
+width: 640
+distortion_model: plumb_bob
+d:
+- -0.05225568264722824
+- 0.058933865278959274
+- 2.339007733098697e-05
+- 0.00047302478924393654
+- -0.01994648575782776
+k:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 391.7255859375
+- 0.0
+- 323.91400146484375
+- 0.0
+- 0.0
+- 391.1866760253906
+- 241.0968017578125
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/47/camera_info/camera_metadata.yaml b/47/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/47/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/47/videos/47_0/cam_left_head_recorder_stats.json b/47/videos/47_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..77bd0d252284cb5c7c58e24420c222400ca17f2e
--- /dev/null
+++ b/47/videos/47_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068589484678540,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 195,
+ "frames_received": 195,
+ "frames_remuxed": 195,
+ "frames_written": 195,
+ "last_recv_ns": 1783068602412737975,
+ "max_callback_queue_bytes": 160306,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 25057,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 980198,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 160306,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 14018992,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 250953301,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/47/videos/47_0/cam_left_wrist_recorder_stats.json b/47/videos/47_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6da6b8f27d40d79fdcaf5c2b6e776263b4a3109
--- /dev/null
+++ b/47/videos/47_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068589523629706,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 194,
+ "frames_received": 194,
+ "frames_remuxed": 194,
+ "frames_written": 194,
+ "last_recv_ns": 1783068602375958310,
+ "max_callback_queue_bytes": 73444,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 17216,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 2555407,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73444,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9047348,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 234690874,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/47/videos/47_0/cam_right_head_recorder_stats.json b/47/videos/47_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..acbdf1c7ecc0e2a965981ddde6ce526f2063dd9f
--- /dev/null
+++ b/47/videos/47_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068589494156610,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 194,
+ "frames_received": 194,
+ "frames_remuxed": 194,
+ "frames_written": 194,
+ "last_recv_ns": 1783068602355127183,
+ "max_callback_queue_bytes": 161277,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 4902364,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 957350,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 161277,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 9074708,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 275143327,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/47/videos/47_0/cam_right_wrist_recorder_stats.json b/47/videos/47_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a83f24752b43928651e120ee377f943e4b8c35b
--- /dev/null
+++ b/47/videos/47_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1783068589506557769,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 194,
+ "frames_received": 194,
+ "frames_remuxed": 194,
+ "frames_written": 194,
+ "last_recv_ns": 1783068602353172932,
+ "max_callback_queue_bytes": 68670,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 57664,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 3819990,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 68670,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 5245022,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 250037233,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/47/segments/0/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/48/episode_info.json b/48/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24ec7147562d3955d7a7b54624f4a8ba8d51ff14
--- /dev/null
+++ b/48/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 48,
+ "timestamp": "2026-07-03T08:50:17Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.124976554
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/48/metadata.yaml b/48/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4af3e66cc99dc8555ae20aeef11b815c3fd525b0
--- /dev/null
+++ b/48/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12124976554
+ starting_time:
+ nanoseconds_since_epoch: 1783068605776837179
+ message_count: 10853
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1213
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1213
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1213
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1212
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1212
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1212
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1213
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2365
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 48_0.mcap
+ files:
+ - path: 48_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068605776837179
+ duration:
+ nanoseconds: 12124976554
+ message_count: 10853
+ custom_data: null
+ ros_distro: jazzy
diff --git a/48/robot.urdf b/48/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/48/robot.urdf
@@ -0,0 +1,1237 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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\ No newline at end of file
diff --git a/6/episode_info.json b/6/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..282d7b9c247670bdbb66ab02417b0b01475599e7
--- /dev/null
+++ b/6/episode_info.json
@@ -0,0 +1,22 @@
+{
+ "task_instruction": "Move the left plate and the right plate to the center.",
+ "task_num": "999999",
+ "task_name": "ACT_test_JC",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1107",
+ "episode_index": 6,
+ "timestamp": "2026-07-03T08:35:41Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.43418456
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/6/metadata.yaml b/6/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b4236a5fc298b83ddf6b4f69393521a9d65fad47
--- /dev/null
+++ b/6/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13434184560
+ starting_time:
+ nanoseconds_since_epoch: 1783067728235179179
+ message_count: 12032
+ topics_with_message_count:
+ - topic_metadata:
+ name: /cmd_vel
+ type: geometry_msgs/msg/Twist
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /leader/joystick_controller_left/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /leader/joystick_controller_right/joint_trajectory
+ type: trajectory_msgs/msg/JointTrajectory
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1344
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2624
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 6_0.mcap
+ files:
+ - path: 6_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067728235179179
+ duration:
+ nanoseconds: 13434184560
+ message_count: 12032
+ custom_data: null
+ ros_distro: jazzy
diff --git a/6/robot.urdf b/6/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/6/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file