diff --git a/0/episode_info.json b/0/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..962ab178c94283da1c3528a1e416a95a2eaef8b8
--- /dev/null
+++ b/0/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": 0,
+ "timestamp": "2026-07-03T08:33:28Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 15.245324033
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/0/metadata.yaml b/0/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2fc512d88a220ccb40071e1d21e943d6241735ec
--- /dev/null
+++ b/0/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 15245324033
+ starting_time:
+ nanoseconds_since_epoch: 1783067593275185071
+ message_count: 13650
+ 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: 1525
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1525
+ - 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: 1525
+ - 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: 1525
+ - 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: 1525
+ - 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: 1525
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1525
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2975
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 0_0.mcap
+ files:
+ - path: 0_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067593275185071
+ duration:
+ nanoseconds: 15245324033
+ message_count: 13650
+ custom_data: null
+ ros_distro: jazzy
diff --git a/0/robot.urdf b/0/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/0/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/1/episode_info.json b/1/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6259e8ae5c4e2469b776fd01ed942a657dceaec5
--- /dev/null
+++ b/1/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": 1,
+ "timestamp": "2026-07-03T08:33:51Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.512962861
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/1/metadata.yaml b/1/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bef8224459ae1d3ed66a90f1ceaf029d21fe2362
--- /dev/null
+++ b/1/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12512962861
+ starting_time:
+ nanoseconds_since_epoch: 1783067618623924154
+ message_count: 11205
+ 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: 1252
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1252
+ - 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: 1252
+ - 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: 1252
+ - 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: 1252
+ - 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: 1252
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1252
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2441
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 1_0.mcap
+ files:
+ - path: 1_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067618623924154
+ duration:
+ nanoseconds: 12512962861
+ message_count: 11205
+ custom_data: null
+ ros_distro: jazzy
diff --git a/1/robot.urdf b/1/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/1/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/10/episode_info.json b/10/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eeeccc3cb942524092581b123b73ac6d691b8e4
--- /dev/null
+++ b/10/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": 10,
+ "timestamp": "2026-07-03T08:37:12Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 15.041676696
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/10/metadata.yaml b/10/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7e164ba2c3e6a4ce9b1b8d656e590364e340f1c0
--- /dev/null
+++ b/10/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 15041676696
+ starting_time:
+ nanoseconds_since_epoch: 1783067817669199026
+ message_count: 13460
+ 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: 1504
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1504
+ - 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: 1504
+ - 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: 1504
+ - 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: 1504
+ - 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: 1504
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1504
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2932
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 10_0.mcap
+ files:
+ - path: 10_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067817669199026
+ duration:
+ nanoseconds: 15041676696
+ message_count: 13460
+ custom_data: null
+ ros_distro: jazzy
diff --git a/10/robot.urdf b/10/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/10/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/11/episode_info.json b/11/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e1eb9564b607ebba1e647c7f8f00ab21e17493
--- /dev/null
+++ b/11/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": 11,
+ "timestamp": "2026-07-03T08:37:32Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.280075743
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/11/metadata.yaml b/11/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c2a31e4a9d1dc627261985be4e4de95a9069341d
--- /dev/null
+++ b/11/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12280075743
+ starting_time:
+ nanoseconds_since_epoch: 1783067839955153070
+ message_count: 10992
+ 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: 1228
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1228
+ - 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: 1228
+ - 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: 1228
+ - 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: 1229
+ - 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: 1229
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1228
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2394
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 11_0.mcap
+ files:
+ - path: 11_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067839955153070
+ duration:
+ nanoseconds: 12280075743
+ message_count: 10992
+ custom_data: null
+ ros_distro: jazzy
diff --git a/11/robot.urdf b/11/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/11/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/13/episode_info.json b/13/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2e6d44962aae26220800af96c4d731f492b37f5
--- /dev/null
+++ b/13/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": 13,
+ "timestamp": "2026-07-03T08:38:17Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.01121037
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/13/metadata.yaml b/13/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..10bbb5cd5a7a3e3440e9607d5aadb229b1f02c4e
--- /dev/null
+++ b/13/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12011210370
+ starting_time:
+ nanoseconds_since_epoch: 1783067885035209847
+ message_count: 10749
+ 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: 1201
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1199
+ - 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: 1201
+ - 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: 1201
+ - 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: 1201
+ - 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: 1201
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1201
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2344
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 13_0.mcap
+ files:
+ - path: 13_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067885035209847
+ duration:
+ nanoseconds: 12011210370
+ message_count: 10749
+ custom_data: null
+ ros_distro: jazzy
diff --git a/13/robot.urdf b/13/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/13/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/14/episode_info.json b/14/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04d5b2a5c3c5d8ed8cd5c8374d79439de1efebb
--- /dev/null
+++ b/14/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": 14,
+ "timestamp": "2026-07-03T08:38:40Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.603853719
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/14/metadata.yaml b/14/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cdeb2137e8e58c72866d055f63d3f233d23afe1a
--- /dev/null
+++ b/14/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13603853719
+ starting_time:
+ nanoseconds_since_epoch: 1783067906543013024
+ message_count: 12181
+ 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: 1361
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1361
+ - 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: 1361
+ - 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: 1361
+ - 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: 1361
+ - 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: 1361
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1361
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2654
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 14_0.mcap
+ files:
+ - path: 14_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067906543013024
+ duration:
+ nanoseconds: 13603853719
+ message_count: 12181
+ custom_data: null
+ ros_distro: jazzy
diff --git a/14/robot.urdf b/14/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/14/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/16/episode_info.json b/16/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3766a3a9dc23830de3bb1a489f6c97857968938
--- /dev/null
+++ b/16/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": 16,
+ "timestamp": "2026-07-03T08:39:24Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 14.310310704
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/16/metadata.yaml b/16/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..428d9913ae0ea550e874494dc346454b5d53c0e3
--- /dev/null
+++ b/16/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 14310310704
+ starting_time:
+ nanoseconds_since_epoch: 1783067949795186264
+ message_count: 12811
+ 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: 1432
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1431
+ - 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: 1431
+ - 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: 1432
+ - 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: 1431
+ - 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: 1431
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1431
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2792
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 16_0.mcap
+ files:
+ - path: 16_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067949795186264
+ duration:
+ nanoseconds: 14310310704
+ message_count: 12811
+ custom_data: null
+ ros_distro: jazzy
diff --git a/16/robot.urdf b/16/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/16/robot.urdf
@@ -0,0 +1,1237 @@
+
+
+
+
+
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\ No newline at end of file
diff --git a/18/episode_info.json b/18/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fc8d526cb83a836c5ac646b3720cd14ababec5
--- /dev/null
+++ b/18/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": 18,
+ "timestamp": "2026-07-03T08:40:07Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.851872668
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/18/metadata.yaml b/18/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c488d27e0448a46d7371dd2bcbbfde2d03104c9f
--- /dev/null
+++ b/18/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13851872668
+ starting_time:
+ nanoseconds_since_epoch: 1783067993135180420
+ message_count: 12397
+ 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: 1386
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1385
+ - 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: 1386
+ - 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: 1386
+ - 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: 1386
+ - 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: 1386
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1385
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2697
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 18_0.mcap
+ files:
+ - path: 18_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067993135180420
+ duration:
+ nanoseconds: 13851872668
+ message_count: 12397
+ custom_data: null
+ ros_distro: jazzy
diff --git a/18/robot.urdf b/18/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/18/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/2/episode_info.json b/2/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..61fa3b10130b77dc135c8ce432d605c986bb06d2
--- /dev/null
+++ b/2/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": 2,
+ "timestamp": "2026-07-03T08:34:14Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.154153875
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/2/metadata.yaml b/2/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bc00d3b54608a0b751972baffff0e40cd7d04fe9
--- /dev/null
+++ b/2/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13154153875
+ starting_time:
+ nanoseconds_since_epoch: 1783067641125185121
+ message_count: 11779
+ 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: 1316
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1316
+ - 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: 1316
+ - 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: 1316
+ - 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: 1316
+ - 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: 1316
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1316
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2567
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 2_0.mcap
+ files:
+ - path: 2_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067641125185121
+ duration:
+ nanoseconds: 13154153875
+ message_count: 11779
+ custom_data: null
+ ros_distro: jazzy
diff --git a/2/robot.urdf b/2/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/2/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/21/episode_info.json b/21/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8061c2c1dc759e3ca049aa228fd0a0eecbe73ffd
--- /dev/null
+++ b/21/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": 21,
+ "timestamp": "2026-07-03T08:41:09Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.562520811
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/21/metadata.yaml b/21/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..791a03f1a173800610044c90dd27e99e25f6621a
--- /dev/null
+++ b/21/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13562520811
+ starting_time:
+ nanoseconds_since_epoch: 1783068055705193893
+ message_count: 12144
+ 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: 1357
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1355
+ - 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: 1357
+ - 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: 1357
+ - 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: 1357
+ - 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: 1357
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1356
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2648
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 21_0.mcap
+ files:
+ - path: 21_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068055705193893
+ duration:
+ nanoseconds: 13562520811
+ message_count: 12144
+ custom_data: null
+ ros_distro: jazzy
diff --git a/21/robot.urdf b/21/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/21/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/26/episode_info.json b/26/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0458efe11ae4619ef08496e49bbbae8b14a0ed1b
--- /dev/null
+++ b/26/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": 26,
+ "timestamp": "2026-07-03T08:44:09Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.800863097
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/26/metadata.yaml b/26/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..04313a2ae45d1a39f7172210ad1d5d9054d9a9ad
--- /dev/null
+++ b/26/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13800863097
+ starting_time:
+ nanoseconds_since_epoch: 1783068235359312306
+ message_count: 12358
+ 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: 1381
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1381
+ - 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: 1381
+ - 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: 1381
+ - 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: 1381
+ - 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: 1381
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1381
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2691
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 26_0.mcap
+ files:
+ - path: 26_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068235359312306
+ duration:
+ nanoseconds: 13800863097
+ message_count: 12358
+ custom_data: null
+ ros_distro: jazzy
diff --git a/26/robot.urdf b/26/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/26/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/27/episode_info.json b/27/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..88af0cb5ae0153259fbf4bcec5a2dbdbb46a41ba
--- /dev/null
+++ b/27/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": 27,
+ "timestamp": "2026-07-03T08:44:26Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.190185921
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/27/metadata.yaml b/27/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eae133574aec03f72f2c55a9330aea16255ad1de
--- /dev/null
+++ b/27/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13190185921
+ starting_time:
+ nanoseconds_since_epoch: 1783068252709317197
+ message_count: 11813
+ 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: 1320
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1319
+ - 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: 1319
+ - 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: 1320
+ - 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: 1320
+ - 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: 1320
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1319
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2576
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 27_0.mcap
+ files:
+ - path: 27_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068252709317197
+ duration:
+ nanoseconds: 13190185921
+ message_count: 11813
+ custom_data: null
+ ros_distro: jazzy
diff --git a/27/robot.urdf b/27/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/27/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/28/episode_info.json b/28/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d05ecb6b8f37582090507e469ce02b7c30910a
--- /dev/null
+++ b/28/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": 28,
+ "timestamp": "2026-07-03T08:44:46Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.670500402
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/28/metadata.yaml b/28/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0aa70e82bcb84576be8eaa82ab4bafdbbb137ca0
--- /dev/null
+++ b/28/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13670500402
+ starting_time:
+ nanoseconds_since_epoch: 1783068272699312973
+ message_count: 12241
+ 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: 1367
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1367
+ - 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: 1367
+ - 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: 1367
+ - 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: 1367
+ - 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: 1367
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1368
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2671
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 28_0.mcap
+ files:
+ - path: 28_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068272699312973
+ duration:
+ nanoseconds: 13670500402
+ message_count: 12241
+ custom_data: null
+ ros_distro: jazzy
diff --git a/28/robot.urdf b/28/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/28/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/31/episode_info.json b/31/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc846965a882b278b18a23a43a8a89ddef5a07ee
--- /dev/null
+++ b/31/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": 31,
+ "timestamp": "2026-07-03T08:45:39Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 14.172685248
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/31/metadata.yaml b/31/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..639ba37cec22a27d228dded7233ab40ccf9da9a2
--- /dev/null
+++ b/31/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 14172685248
+ starting_time:
+ nanoseconds_since_epoch: 1783068324739315109
+ message_count: 12692
+ 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: 1418
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1418
+ - 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: 1418
+ - 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: 1418
+ - 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: 1418
+ - 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: 1418
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1418
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2766
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 31_0.mcap
+ files:
+ - path: 31_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068324739315109
+ duration:
+ nanoseconds: 14172685248
+ message_count: 12692
+ custom_data: null
+ ros_distro: jazzy
diff --git a/31/robot.urdf b/31/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/31/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/32/episode_info.json b/32/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ff4e2a29f514d88e73c980f44443f9d7184209
--- /dev/null
+++ b/32/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": 32,
+ "timestamp": "2026-07-03T08:45:57Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.571252157
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/32/metadata.yaml b/32/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8772828e364a33dba19e2316ac252f29969f5d4a
--- /dev/null
+++ b/32/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13571252157
+ starting_time:
+ nanoseconds_since_epoch: 1783068343709307984
+ message_count: 12155
+ 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: 1358
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1358
+ - 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: 1358
+ - 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: 1358
+ - 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: 1358
+ - 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: 1358
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1358
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2649
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 32_0.mcap
+ files:
+ - path: 32_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068343709307984
+ duration:
+ nanoseconds: 13571252157
+ message_count: 12155
+ custom_data: null
+ ros_distro: jazzy
diff --git a/32/robot.urdf b/32/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/32/robot.urdf
@@ -0,0 +1,1237 @@
+
+
+
+
+
+
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\ No newline at end of file
diff --git a/34/robot.urdf b/34/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/34/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/36/episode_info.json b/36/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..530a997d936b73d1469a6482d437bc27178fdfa3
--- /dev/null
+++ b/36/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": 36,
+ "timestamp": "2026-07-03T08:47:02Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.946584693
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/36/metadata.yaml b/36/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c893447d26ddc65dacaf80fe0a71fa17ad14a7b3
--- /dev/null
+++ b/36/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12946584693
+ starting_time:
+ nanoseconds_since_epoch: 1783068409363511417
+ message_count: 11596
+ 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: 1295
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1295
+ - 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: 1295
+ - 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: 1295
+ - 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: 1295
+ - 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: 1295
+ - 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: 2531
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 36_0.mcap
+ files:
+ - path: 36_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068409363511417
+ duration:
+ nanoseconds: 12946584693
+ message_count: 11596
+ custom_data: null
+ ros_distro: jazzy
diff --git a/38/episode_info.json b/38/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e57e3115cf5876a6792b0c7f931e092e326352
--- /dev/null
+++ b/38/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": 38,
+ "timestamp": "2026-07-03T08:47:35Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.110762044
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/38/metadata.yaml b/38/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..58c0243c855b78a857c2e52fcdabf5e16e0978a6
--- /dev/null
+++ b/38/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13110762044
+ starting_time:
+ nanoseconds_since_epoch: 1783068442699316593
+ message_count: 11749
+ 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: 1312
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1312
+ - 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: 1312
+ - 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: 1312
+ - 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: 1312
+ - 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: 1312
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1312
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2565
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 38_0.mcap
+ files:
+ - path: 38_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068442699316593
+ duration:
+ nanoseconds: 13110762044
+ message_count: 11749
+ custom_data: null
+ ros_distro: jazzy
diff --git a/38/robot.urdf b/38/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/38/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/4/episode_info.json b/4/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a51b9e7058b5d24701bb9133cc903464a994044
--- /dev/null
+++ b/4/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": 4,
+ "timestamp": "2026-07-03T08:34:59Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.95318489
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/4/metadata.yaml b/4/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d60a1a1fd9095ce958462d83a0e703f5f61d3291
--- /dev/null
+++ b/4/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12953184890
+ starting_time:
+ nanoseconds_since_epoch: 1783067686642070563
+ message_count: 11593
+ 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: 1296
+ - 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: 1295
+ - 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: 1295
+ - 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: 1296
+ - 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: 1296
+ - 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:
+ - 4_0.mcap
+ files:
+ - path: 4_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067686642070563
+ duration:
+ nanoseconds: 12953184890
+ message_count: 11593
+ custom_data: null
+ ros_distro: jazzy
diff --git a/4/robot.urdf b/4/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/4/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/42/episode_info.json b/42/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a673a6fa20f70e13f4c79c7faa50bf38b2be2f3c
--- /dev/null
+++ b/42/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": 42,
+ "timestamp": "2026-07-03T08:48:39Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.94328525
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/42/metadata.yaml b/42/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..448081e1a4ec85392628ed18d694d481c274d78f
--- /dev/null
+++ b/42/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12943285250
+ starting_time:
+ nanoseconds_since_epoch: 1783068506979323715
+ message_count: 11592
+ 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: 1295
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1295
+ - 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: 1295
+ - 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: 1295
+ - 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: 1295
+ - 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: 1295
+ - 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: 2527
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 42_0.mcap
+ files:
+ - path: 42_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068506979323715
+ duration:
+ nanoseconds: 12943285250
+ message_count: 11592
+ custom_data: null
+ ros_distro: jazzy
diff --git a/42/robot.urdf b/42/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/42/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/43/episode_info.json b/43/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d3ffb3ce8ce80b56745b599adcb124f6580b32
--- /dev/null
+++ b/43/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": 43,
+ "timestamp": "2026-07-03T08:48:56Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.083192576
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/43/metadata.yaml b/43/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..926b0159c0a3329288d5a53c63c6be5016bd8a5e
--- /dev/null
+++ b/43/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13083192576
+ starting_time:
+ nanoseconds_since_epoch: 1783068522979327760
+ message_count: 11720
+ 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: 1309
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1309
+ - 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: 1309
+ - 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: 1309
+ - 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: 1309
+ - 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: 1309
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1309
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2557
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 43_0.mcap
+ files:
+ - path: 43_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068522979327760
+ duration:
+ nanoseconds: 13083192576
+ message_count: 11720
+ custom_data: null
+ ros_distro: jazzy
diff --git a/43/robot.urdf b/43/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/43/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/46/episode_info.json b/46/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbde9e0d930049f55bb761ef30c0922d1d11483
--- /dev/null
+++ b/46/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": 46,
+ "timestamp": "2026-07-03T08:49:45Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 13.305469458
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/46/metadata.yaml b/46/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c6a0e6921576be6bdc208b0c5edfd8f85a7535ff
--- /dev/null
+++ b/46/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 13305469458
+ starting_time:
+ nanoseconds_since_epoch: 1783068572579319959
+ message_count: 11917
+ 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: 1331
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1331
+ - 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: 1331
+ - 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: 1331
+ - 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: 1331
+ - 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: 1331
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1331
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2600
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 46_0.mcap
+ files:
+ - path: 46_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068572579319959
+ duration:
+ nanoseconds: 13305469458
+ message_count: 11917
+ custom_data: null
+ ros_distro: jazzy
diff --git a/46/robot.urdf b/46/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/46/robot.urdf
@@ -0,0 +1,1237 @@
+
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\ No newline at end of file
diff --git a/49/episode_info.json b/49/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c357e89ca2af8b63dcf2985d89c65193fb763f1a
--- /dev/null
+++ b/49/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": 49,
+ "timestamp": "2026-07-03T08:50:35Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.800752341
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/49/metadata.yaml b/49/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4576ad8a8d5cbd2d6c1d3591d11e052046f0f6df
--- /dev/null
+++ b/49/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12800752341
+ starting_time:
+ nanoseconds_since_epoch: 1783068622169306021
+ message_count: 11468
+ 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: 1281
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1281
+ - 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: 1281
+ - 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: 1281
+ - 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: 1281
+ - 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: 1281
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1281
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2501
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 49_0.mcap
+ files:
+ - path: 49_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783068622169306021
+ duration:
+ nanoseconds: 12800752341
+ message_count: 11468
+ custom_data: null
+ ros_distro: jazzy
diff --git a/49/robot.urdf b/49/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/49/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/5/episode_info.json b/5/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e4b7e9be361ac65c60ccd4875ddfdb549ce69a
--- /dev/null
+++ b/5/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": 5,
+ "timestamp": "2026-07-03T08:35:19Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 11.27638615
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/5/metadata.yaml b/5/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d7dccbd1c3a5baf4d077778b8f523fa58d2250c
--- /dev/null
+++ b/5/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 11276386150
+ starting_time:
+ nanoseconds_since_epoch: 1783067707835170603
+ message_count: 10096
+ 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: 1128
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1128
+ - 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: 1128
+ - 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: 1128
+ - 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: 1128
+ - 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: 1128
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1128
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2200
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 5_0.mcap
+ files:
+ - path: 5_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067707835170603
+ duration:
+ nanoseconds: 11276386150
+ message_count: 10096
+ custom_data: null
+ ros_distro: jazzy
diff --git a/5/robot.urdf b/5/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/5/robot.urdf
@@ -0,0 +1,1237 @@
+
+
+
+
+
+
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\ No newline at end of file
diff --git a/7/episode_info.json b/7/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5036971d4649dfe55c7a75ea09de19989f5278bc
--- /dev/null
+++ b/7/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": 7,
+ "timestamp": "2026-07-03T08:36:01Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.522918982
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/7/metadata.yaml b/7/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..70f6ab43ca5d9692adba47b354aa4a4e1cb281d1
--- /dev/null
+++ b/7/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12522918982
+ starting_time:
+ nanoseconds_since_epoch: 1783067749255173785
+ message_count: 11214
+ 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: 1253
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1253
+ - 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: 1253
+ - 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: 1253
+ - 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: 1253
+ - 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: 1253
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1253
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2443
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 7_0.mcap
+ files:
+ - path: 7_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067749255173785
+ duration:
+ nanoseconds: 12522918982
+ message_count: 11214
+ custom_data: null
+ ros_distro: jazzy
diff --git a/7/robot.urdf b/7/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/7/robot.urdf
@@ -0,0 +1,1237 @@
+
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+
\ No newline at end of file
diff --git a/9/episode_info.json b/9/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..21032a18b332d1330dfa26179560df2f5d86f48b
--- /dev/null
+++ b/9/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": 9,
+ "timestamp": "2026-07-03T08:36:47Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Move the left plate and the right plate to the center.",
+ "frame_duration": [
+ 0.0,
+ 12.112430658
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/9/metadata.yaml b/9/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ddf7dffbeed5bcb3d0924a5c1ae90da27ced867d
--- /dev/null
+++ b/9/metadata.yaml
@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 12112430658
+ starting_time:
+ nanoseconds_since_epoch: 1783067795785172489
+ message_count: 10840
+ 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: 1212
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 1212
+ - 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: 1211
+ - 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: 1212
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 2357
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 9_0.mcap
+ files:
+ - path: 9_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1783067795785172489
+ duration:
+ nanoseconds: 12112430658
+ message_count: 10840
+ custom_data: null
+ ros_distro: jazzy
diff --git a/9/robot.urdf b/9/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/9/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file