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.gitattributes

@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+0_0.mcap filter=lfs diff=lfs merge=lfs -text

0_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0753fcbdf6ae42f616ec55b296c13b3e9e0404bed572d671748bb25d7300ac8e
+size 836414

metadata.yaml

@@ -0,0 +1,110 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 14862896477
+  starting_time:
+    nanoseconds_since_epoch: 1768542421319106847
+  message_count: 2184
+  topics_with_message_count:
+    - topic_metadata:
+        name: /robot_description
+        type: std_msgs/msg/String
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 0
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 0
+    - 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: 273
+    - 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: 273
+    - 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: 273
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 273
+    - topic_metadata:
+        name: /camera_right/camera_right/color/image_rect_raw/compressed/metadata
+        type: rosbag_recorder/msg/ImageMetadata
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 273
+    - topic_metadata:
+        name: /camera_left/camera_left/color/image_rect_raw/compressed/metadata
+        type: rosbag_recorder/msg/ImageMetadata
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 273
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 0
+    - 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: 273
+    - topic_metadata:
+        name: /zed/zed_node/left/image_rect_color/compressed/metadata
+        type: rosbag_recorder/msg/ImageMetadata
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 273
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 0_0.mcap
+  files:
+    - path: 0_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1768542421319106847
+      duration:
+        nanoseconds: 14862896477
+      message_count: 2184
+  custom_data: ~
+  ros_distro: jazzy

robot_config.yaml

@@ -0,0 +1,30 @@
+robot_type: ffw_bg2_rev4
+camera_mapping:
+  /zed/zed_node/left/image_rect_color/compressed: cam_head
+  /camera_left/camera_left/color/image_rect_raw/compressed: cam_wrist_left
+  /camera_right/camera_right/color/image_rect_raw/compressed: cam_wrist_right
+action_topics:
+  leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+  leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+  leader_head: /leader/joystick_controller_left/joint_trajectory
+  leader_lift: /leader/joystick_controller_right/joint_trajectory
+joint_order:
+  - arm_l_joint1
+  - arm_l_joint2
+  - arm_l_joint3
+  - arm_l_joint4
+  - arm_l_joint5
+  - arm_l_joint6
+  - arm_l_joint7
+  - gripper_l_joint1
+  - arm_r_joint1
+  - arm_r_joint2
+  - arm_r_joint3
+  - arm_r_joint4
+  - arm_r_joint5
+  - arm_r_joint6
+  - arm_r_joint7
+  - gripper_r_joint1
+  - head_joint1
+  - head_joint2
+  - lift_joint

videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b3728c837afe029b4c3f66a054f6922879ebe4401622f1894f3eff5df90ef29
+size 954712

videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e1a4d981fa1d339baa40f448e126bcaa8cc4cb0edf58c1655d442af3043dc4
+size 1013924

videos/zed_zed_node_left_image_rect_color_compressed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5b0e1f5aba43cc336c5d460a6d6db8c391aa0403b2f6a5db9592043bddbae67
+size 4548596