Initial commit of the dataset

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metadata/episode_info.json

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+  "episode_config": [
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+      "description": "placeholder",
+      "frame_count": 977
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+    {
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+      "description": "placeholder",
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+      "description": "placeholder",
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metadata/generation.json

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+  "frequency": 100,
+  "sampler": "latest"
+}

metadata/system.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 1244173508805
+  starting_time:
+    nanoseconds_since_epoch: 1750249034000687378
+  message_count: 750741
+  topics_with_message_count:
+    - topic_metadata:
+        name: events/event_interface/stop_episode/event
+        type: data_interfaces/msg/DiscreteEventInterface
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 34
+    - topic_metadata:
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+        type: data_interfaces/msg/VideoTimestamp
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 37109
+    - topic_metadata:
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+        type: data_interfaces/msg/VideoTimestamp
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 35361
+    - topic_metadata:
+        name: right_arm/actor_interface/right_joints/state
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 246976
+    - topic_metadata:
+        name: right_arm/actor_interface/right_joints/action
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 74506
+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 246661
+    - topic_metadata:
+        name: events/event_interface/start_episode/event
+        type: data_interfaces/msg/DiscreteEventInterface
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 32
+    - topic_metadata:
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+        type: data_interfaces/msg/VideoTimestamp
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: left_arm/actor_interface/left_joints/action
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 74490
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - bottle_task_0.mcap
+  files:
+    - path: bottle_task_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1750249034000687378
+      duration:
+        nanoseconds: 1244173508805
+      message_count: 750741

metadata/workcell.yaml

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+collections:
+  events:
+    event_interfaces:
+    - stop_episode
+    stream: ros2
+    type: data_collector::collectors::EventCollector
+  left_arm:
+    actor_interfaces:
+    - left_joints
+    perception_interfaces:
+    - left_cam
+    stream: ros2
+    type: data_collector::collectors::UDCLeftCollector
+  right_arm:
+    actor_interfaces:
+    - right_joints
+    perception_interfaces:
+    - right_cam
+    stream: ros2
+    type: data_collector::collectors::UDCRightCollector
+  torso:
+    perception_interfaces:
+    - middle_cam
+    stream: ros2
+    type: data_collector::collectors::DefaultCollector
+interfaces:
+  left_cam:
+    chain_elements:
+      link7: left_arm_link7
+    mode: camera
+    state_topic:
+      topic: perception/piper_bimanual_perception/camera/left_arm_cam/color/image_rect_raw
+      type: sensor_msgs/msg/Image
+    type: perception_interface
+  left_depth:
+    chain_elements:
+      link7: left_arm_link7
+    mode: camera
+    state_topic:
+      topic: perception/piper_bimanual_perception/camera/left_arm_cam/depth/image_rect_raw
+      type: sensor_msgs/msg/Image
+    type: perception_interface
+  left_joints:
+    action_topic:
+      topic: piper/teleop_motion_plan
+      type: teleop_interfaces/msg/TeleopMotionPlan
+    chain_elements:
+      joint1: left_arm_joint1
+      joint2: left_arm_joint2
+      joint3: left_arm_joint3
+      joint4: left_arm_joint4
+      joint5: left_arm_joint5
+      joint6: left_arm_joint6
+      joint7: left_arm_joint7
+    mode: joint
+    state_topic:
+      topic: piper/joint_states
+      type: sensor_msgs/msg/JointState
+    type: actor_interface
+  middle_cam:
+    chain_elements:
+      link: gantry_mm
+    mode: camera
+    state_topic:
+      topic: perception/piper_bimanual_perception/camera/arm_middle_cam/color/image_raw
+      type: sensor_msgs/msg/Image
+    type: perception_interface
+  middle_depth:
+    mode: camera
+    state_topic:
+      topic: perception/piper_bimanual_perception/camera/arm_middle_cam/depth/image_rect_raw
+      type: sensor_msgs/msg/Image
+    type: perception_interface
+  ranger_twist:
+    action_topic:
+      topic: something
+      type: geometry_msgs/msg/Twist
+    mode: mobile
+    state_topic:
+      topic: something
+      type: geometry_msgs/msg/Twist
+    type: actor_interface
+  right_cam:
+    chain_elements:
+      link7: right_arm_link7
+    mode: camera
+    state_topic:
+      topic: perception/piper_bimanual_perception/camera/right_arm_cam/color/image_rect_raw
+      type: sensor_msgs/msg/Image
+    type: perception_interface
+  right_depth:
+    chain_elements:
+      link7: right_arm_link7
+    mode: camera
+    state_topic:
+      topic: perception/piper_bimanual_perception/camera/right_arm_cam/depth/image_rect_raw
+      type: sensor_msgs/msg/Image
+    type: perception_interface
+  right_joints:
+    action_topic:
+      topic: piper/teleop_motion_plan
+      type: teleop_interfaces/msg/TeleopMotionPlan
+    chain_elements:
+      joint1: right_arm_joint1
+      joint2: right_arm_joint2
+      joint3: right_arm_joint3
+      joint4: right_arm_joint4
+      joint5: right_arm_joint5
+      joint6: right_arm_joint6
+      joint7: right_arm_joint7
+    mode: joint
+    state_topic:
+      topic: piper/joint_states
+      type: sensor_msgs/msg/JointState
+    type: actor_interface
+  start_episode:
+    event_topic:
+      topic: teleop_rod
+      type: teleop_interfaces/msg/MetaTeleopData
+    mode: discrete
+    type: event_interface
+  stop_episode:
+    event_topic:
+      topic: teleop_rod
+      type: teleop_interfaces/msg/MetaTeleopData
+    mode: discrete
+    type: event_interface
+  torso_joints:
+    action_topic:
+      topic: torso/joint_states
+      type: sensor_msgs/msg/JointState
+    chain_elements:
+      joint1: prismatic_1
+    mode: joint
+    state_topic:
+      topic: torso/joint_states
+      type: sensor_msgs/msg/JointState
+    type: actor_interface

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