diff --git a/0/episode_info.json b/0/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..73c977eb0e5cf2395a5090ddda66e1f13fb26447
--- /dev/null
+++ b/0/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 0,
+ "timestamp": "2026-08-18T00:16:08Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.864122829
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.864122829,
+ 18.704233469000002
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 18.704233469000002,
+ 26.110712303
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 26.110712303,
+ 44.722769702
+ ]
+ }
+ ],
+ "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..bad16fc8291552a17dcf681544ffcd81e55cfc2b
--- /dev/null
+++ b/0/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 44973724703
+ starting_time:
+ nanoseconds_since_epoch: 1787012123182782614
+ message_count: 40023
+ 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: 4475
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4473
+ - 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: 4474
+ - 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: 4474
+ - 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: 4474
+ - 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: 4474
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4474
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8705
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 0_0.mcap
+ - 0_1.mcap
+ - 0_2.mcap
+ - 0_3.mcap
+ files:
+ - path: 0_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012123182782614
+ duration:
+ nanoseconds: 6864122829
+ message_count: 6144
+ - path: 0_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012130124449027
+ duration:
+ nanoseconds: 11840110640
+ message_count: 10595
+ - path: 0_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012142054465417
+ duration:
+ nanoseconds: 7406478834
+ message_count: 6632
+ - path: 0_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012149544449918
+ duration:
+ nanoseconds: 18612057399
+ message_count: 16652
+ 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/12/episode_info.json b/12/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0746ede478af0d63b6ab575364eb1fc9c36fd54c
--- /dev/null
+++ b/12/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 12,
+ "timestamp": "2026-08-18T00:45:11Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.370888406
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.370888406,
+ 17.688947074
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 17.688947074,
+ 24.297197562
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 24.297197562,
+ 43.410709749000006
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/12/metadata.yaml b/12/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..01cf3b6a45ae64e2be856ab4d84fb527727dfa4b
--- /dev/null
+++ b/12/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 43623514016
+ starting_time:
+ nanoseconds_since_epoch: 1787013867364452503
+ message_count: 38851
+ 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: 4342
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4342
+ - 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: 4342
+ - 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: 4342
+ - 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: 4343
+ - 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: 4342
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4342
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8456
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 12_0.mcap
+ - 12_1.mcap
+ - 12_2.mcap
+ - 12_3.mcap
+ files:
+ - path: 12_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013867364452503
+ duration:
+ nanoseconds: 7370888406
+ message_count: 6598
+ - path: 12_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013874816400429
+ duration:
+ nanoseconds: 10318058668
+ message_count: 9229
+ - path: 12_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013885206413417
+ duration:
+ nanoseconds: 6608250488
+ message_count: 5915
+ - path: 12_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013891874454332
+ duration:
+ nanoseconds: 19113512187
+ message_count: 17109
+ custom_data: null
+ ros_distro: jazzy
diff --git a/12/robot.urdf b/12/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/12/robot.urdf
@@ -0,0 +1,1237 @@
+
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+
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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..5a2219e3209a4b28fc3ded8873a3209ab664b71e
--- /dev/null
+++ b/13/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 13,
+ "timestamp": "2026-08-18T00:59:21Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.698190672
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.698190672,
+ 16.771317957
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.771317957,
+ 23.141780769
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.141780769,
+ 43.584307287
+ ]
+ }
+ ],
+ "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..f091b68f2ed7388bf0fac68c0f0349df19c05b8e
--- /dev/null
+++ b/13/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 43843039324
+ starting_time:
+ nanoseconds_since_epoch: 1787014717821473544
+ message_count: 38793
+ 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: 4361
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4360
+ - 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: 4252
+ - 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: 4252
+ - 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: 4360
+ - 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: 4360
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4360
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8488
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 13_0.mcap
+ - 13_1.mcap
+ - 13_2.mcap
+ - 13_3.mcap
+ files:
+ - path: 13_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787014717821473544
+ duration:
+ nanoseconds: 6698190672
+ message_count: 5997
+ - path: 13_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787014724611472895
+ duration:
+ nanoseconds: 10073127285
+ message_count: 9017
+ - path: 13_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787014734774510250
+ duration:
+ nanoseconds: 6370462812
+ message_count: 5703
+ - path: 13_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787014741221986350
+ duration:
+ nanoseconds: 20442526518
+ message_count: 18076
+ 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/15/episode_info.json b/15/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..06fd35b18f8720b1676785603e62ac8f3a9abe9a
--- /dev/null
+++ b/15/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 15,
+ "timestamp": "2026-08-18T01:07:06Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 8.194417901
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 8.194417901,
+ 18.27753357
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 18.27753357,
+ 24.767718115
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 24.767718115,
+ 44.234929091
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/15/metadata.yaml b/15/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..01dbd2a11924c63d21161373e668b5f5906c704d
--- /dev/null
+++ b/15/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 44520198375
+ starting_time:
+ nanoseconds_since_epoch: 1787015181621467074
+ message_count: 39587
+ 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: 4425
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4425
+ - 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: 4425
+ - 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: 4423
+ - 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: 4425
+ - 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: 4425
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4425
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8614
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 15_0.mcap
+ - 15_1.mcap
+ - 15_2.mcap
+ - 15_3.mcap
+ files:
+ - path: 15_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015181621467074
+ duration:
+ nanoseconds: 8194417901
+ message_count: 7334
+ - path: 15_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015189911451079
+ duration:
+ nanoseconds: 10083115669
+ message_count: 9029
+ - path: 15_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015200081478234
+ duration:
+ nanoseconds: 6490184545
+ message_count: 5809
+ - path: 15_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015206674454473
+ duration:
+ nanoseconds: 19467210976
+ message_count: 17415
+ custom_data: null
+ ros_distro: jazzy
diff --git a/15/robot.urdf b/15/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/15/robot.urdf
@@ -0,0 +1,1237 @@
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\ No newline at end of file
diff --git a/18/episode_info.json b/18/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2257f3a65fe2b65b2a30e38f838d9a83206ceeb5
--- /dev/null
+++ b/18/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 18,
+ "timestamp": "2026-08-18T01:16:50Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.845069878
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.845069878,
+ 16.38646189
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.38646189,
+ 22.70645619
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 22.70645619,
+ 39.200165986
+ ]
+ }
+ ],
+ "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..4be84b035826f5de23b477d481c66b164abff21b
--- /dev/null
+++ b/18/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 39450961948
+ starting_time:
+ nanoseconds_since_epoch: 1787015770961472887
+ message_count: 35072
+ 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: 3921
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3922
+ - 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: 3921
+ - 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: 3921
+ - 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: 3922
+ - 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: 3921
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3922
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7622
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 18_0.mcap
+ - 18_1.mcap
+ - 18_2.mcap
+ - 18_3.mcap
+ files:
+ - path: 18_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015770961472887
+ duration:
+ nanoseconds: 6845069878
+ message_count: 6118
+ - path: 18_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015777920281331
+ duration:
+ nanoseconds: 9541392012
+ message_count: 8543
+ - path: 18_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015787520288573
+ duration:
+ nanoseconds: 6319994300
+ message_count: 5654
+ - path: 18_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015793918725039
+ duration:
+ nanoseconds: 16493709796
+ message_count: 14757
+ 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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+
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\ No newline at end of file
diff --git a/19/episode_info.json b/19/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..800adc8edfb0700d859647d26d8216a81a60d5d5
--- /dev/null
+++ b/19/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 19,
+ "timestamp": "2026-08-18T01:17:54Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.854084753
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.854084753,
+ 17.570978183
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 17.570978183,
+ 23.9610426
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.9610426,
+ 39.238753373
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/19/metadata.yaml b/19/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f05f8cd11a33bb7bda4ecd746fe9158b35bc3169
--- /dev/null
+++ b/19/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 39500145864
+ starting_time:
+ nanoseconds_since_epoch: 1787015834750286519
+ message_count: 35102
+ 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: 3926
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3924
+ - 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: 3925
+ - 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: 3924
+ - 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: 3926
+ - 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: 3925
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3923
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7629
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 19_0.mcap
+ - 19_1.mcap
+ - 19_2.mcap
+ - 19_3.mcap
+ files:
+ - path: 19_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015834750286519
+ duration:
+ nanoseconds: 7854084753
+ message_count: 7029
+ - path: 19_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015842678045615
+ duration:
+ nanoseconds: 9716893430
+ message_count: 8691
+ - path: 19_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015852490280382
+ duration:
+ nanoseconds: 6390064417
+ message_count: 5717
+ - path: 19_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787015858972721610
+ duration:
+ nanoseconds: 15277710773
+ message_count: 13665
+ custom_data: null
+ ros_distro: jazzy
diff --git a/19/robot.urdf b/19/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/19/robot.urdf
@@ -0,0 +1,1237 @@
+
+
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+
\ No newline at end of file
diff --git a/2/episode_info.json b/2/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3171652babb2a99083678a3f028dcda8f7a6af
--- /dev/null
+++ b/2/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 2,
+ "timestamp": "2026-08-18T00:18:46Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.732345584
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.732345584,
+ 16.696750938
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.696750938,
+ 23.027855899000002
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.027855899000002,
+ 39.839988085
+ ]
+ }
+ ],
+ "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..f587e50026d5a89b14ea6ce3686c3b34b013b0a0
--- /dev/null
+++ b/2/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 40142252505
+ starting_time:
+ nanoseconds_since_epoch: 1787012286504326960
+ message_count: 35659
+ 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: 3985
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3987
+ - 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: 3985
+ - 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: 3985
+ - 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: 3985
+ - 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: 3985
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3987
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7760
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 2_0.mcap
+ - 2_1.mcap
+ - 2_2.mcap
+ - 2_3.mcap
+ files:
+ - path: 2_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012286504326960
+ duration:
+ nanoseconds: 6732345584
+ message_count: 6027
+ - path: 2_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012293352070912
+ duration:
+ nanoseconds: 9964405354
+ message_count: 8917
+ - path: 2_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012303416412825
+ duration:
+ nanoseconds: 6331104961
+ message_count: 5668
+ - path: 2_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012309834447279
+ duration:
+ nanoseconds: 16812132186
+ message_count: 15047
+ 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..75f96f68042c9ec2fd1089a201c6ce101c931d38
--- /dev/null
+++ b/21/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 21,
+ "timestamp": "2026-08-18T01:21:29Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.054135637
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.054135637,
+ 16.554469235
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.554469235,
+ 22.766998667
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 22.766998667,
+ 38.888377827
+ ]
+ }
+ ],
+ "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..d02bba8c3efb9b65cbc436eff7c685e393ffcd37
--- /dev/null
+++ b/21/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 39161355270
+ starting_time:
+ nanoseconds_since_epoch: 1787016050290296778
+ message_count: 34807
+ 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: 3890
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3892
+ - 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: 3891
+ - 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: 3891
+ - 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: 3890
+ - 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: 3890
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3892
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7571
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 21_0.mcap
+ - 21_1.mcap
+ - 21_2.mcap
+ - 21_3.mcap
+ files:
+ - path: 21_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016050290296778
+ duration:
+ nanoseconds: 7054135637
+ message_count: 6315
+ - path: 21_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016057441348740
+ duration:
+ nanoseconds: 9500333598
+ message_count: 8502
+ - path: 21_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016067029980994
+ duration:
+ nanoseconds: 6212529432
+ message_count: 5564
+ - path: 21_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016073330272888
+ duration:
+ nanoseconds: 16121379160
+ message_count: 14426
+ 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/24/camera_info/cam_left_head.yaml b/24/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a97e5a99940f57215669a79e7c4cbd984d818676
--- /dev/null
+++ b/24/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1787016468
+ nanosec: 255497899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/cam_left_wrist.yaml b/24/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5354e2423e196a626ad3b5106dc8ef000e1ecf45
--- /dev/null
+++ b/24/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1787016468
+ nanosec: 229766357
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.055807001888751984
+- 0.06341736763715744
+- 1.8616066881804727e-05
+- 0.00040977270691655576
+- -0.02199416421353817
+k:
+- 217.81771850585938
+- 0.0
+- 211.0225830078125
+- 0.0
+- 217.53515625
+- 120.03814697265625
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 217.81771850585938
+- 0.0
+- 211.0225830078125
+- 0.0
+- 0.0
+- 217.53515625
+- 120.03814697265625
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/cam_right_head.yaml b/24/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6dfd0fbb2acea1b90a671951c4acd686f8b7782a
--- /dev/null
+++ b/24/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1787016468
+ nanosec: 255497899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- -22.995315551757812
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/cam_right_wrist.yaml b/24/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f96a8bf8d50cfed878f28b10bc8d3d5fbb90858f
--- /dev/null
+++ b/24/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_right_color_optical_frame
+ stamp:
+ sec: 1787016468
+ nanosec: 224830322
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.05417469143867493
+- 0.0605529248714447
+- 0.00016242921992670745
+- 0.0005478920065797865
+- -0.020335007458925247
+k:
+- 217.2623748779297
+- 0.0
+- 212.0091552734375
+- 0.0
+- 216.99351501464844
+- 122.0171127319336
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 217.2623748779297
+- 0.0
+- 212.0091552734375
+- 0.0
+- 0.0
+- 216.99351501464844
+- 122.0171127319336
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/24/camera_info/camera_metadata.yaml b/24/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/24/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/24/videos/24_0/cam_left_head_recorder_stats.json b/24/videos/24_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f564159e90e35bea47180d31fe28bc52482ae1e
--- /dev/null
+++ b/24/videos/24_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1787016461643503157,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 199,
+ "frames_received": 199,
+ "frames_remuxed": 199,
+ "frames_written": 199,
+ "last_recv_ns": 1787016468250711087,
+ "max_callback_queue_bytes": 73606,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 63937,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 5643525,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73606,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8647852,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_left_head.mp4",
+ "name": "cam_left_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_left_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 250545344,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_left_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/24/videos/24_0/cam_left_wrist_recorder_stats.json b/24/videos/24_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..99cf52f5c51490cd8a9bfb777e97a6d47a9e8ed2
--- /dev/null
+++ b/24/videos/24_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1787016461646199349,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 199,
+ "frames_received": 199,
+ "frames_remuxed": 199,
+ "frames_written": 199,
+ "last_recv_ns": 1787016468237461272,
+ "max_callback_queue_bytes": 27778,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 651375,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 9692324,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 27778,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 10416918,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 199255902,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/24/videos/24_0/cam_right_head_recorder_stats.json b/24/videos/24_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa036357719d3c836fdac9cb35c5a3aa74d9b8f
--- /dev/null
+++ b/24/videos/24_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+ "callback_queue_bytes_current": 0,
+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1787016461647487475,
+ "frames_dropped_invalid": 0,
+ "frames_dropped_queue": 0,
+ "frames_metadata_written": 198,
+ "frames_received": 198,
+ "frames_remuxed": 198,
+ "frames_written": 198,
+ "last_recv_ns": 1787016468257665555,
+ "max_callback_queue_bytes": 73464,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 14368,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1979182,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 73464,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 11887480,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 192058582,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/0/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/24/videos/24_0/cam_right_wrist_recorder_stats.json b/24/videos/24_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9166e86caa8f30f8e91c9701e8b443f5ccbe6d82
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new file mode 100644
index 0000000000000000000000000000000000000000..a453bd9da2695ed8cd2d0eabdf2aa6713844c1d3
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new file mode 100644
index 0000000000000000000000000000000000000000..246f5763e89435e4ba97cf852e06f1be874133db
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new file mode 100644
index 0000000000000000000000000000000000000000..47ac66d4fef664faee2ef7a9d7508f1c61fc3269
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new file mode 100644
index 0000000000000000000000000000000000000000..d07a831298c924d09876b12756ae4b986d3b4861
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new file mode 100644
index 0000000000000000000000000000000000000000..423b8ba42d037c848a271e5715a5334879f24c9b
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new file mode 100644
index 0000000000000000000000000000000000000000..6e897c3f22791d3104b5cae1b66ec7c5358cfcf7
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new file mode 100644
index 0000000000000000000000000000000000000000..a85a077ac9610480d94beacd933446666aab771e
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new file mode 100644
index 0000000000000000000000000000000000000000..0d0db68eb4471e3ab29b6ddd75ddda9f4ccba9af
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new file mode 100644
index 0000000000000000000000000000000000000000..73014d748a6c4aa985d31112284093e5b86faea2
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+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/24/videos/24_3/cam_left_wrist_recorder_stats.json b/24/videos/24_3/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae9aef17f8864308733880d7e6658b453e0f9ebe
--- /dev/null
+++ b/24/videos/24_3/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+ "diagnostics_mode": "summary",
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+ "first_recv_ns": 1787016485590105830,
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+ "last_recv_ns": 1787016501341246974,
+ "max_callback_queue_bytes": 28792,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 3045478,
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+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 1691527,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 28792,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8589672,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_left_wrist.mp4",
+ "name": "cam_left_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_left_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 187937005,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_left_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/24/videos/24_3/cam_right_head_recorder_stats.json b/24/videos/24_3/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..19216ee5b7e9d016bc54564ececd574bb99c1e0a
--- /dev/null
+++ b/24/videos/24_3/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+ "diagnostics_mode": "summary",
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+ "first_recv_ns": 1787016485585307510,
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+ "frames_metadata_written": 472,
+ "frames_received": 472,
+ "frames_remuxed": 472,
+ "frames_written": 472,
+ "last_recv_ns": 1787016501348163838,
+ "max_callback_queue_bytes": 74948,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 28769,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 2138961,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 74948,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 10626168,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_right_head.mp4",
+ "name": "cam_right_head",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_right_head.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 302731458,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_right_head_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
+ "soft_callback_queue_frames": 256,
+ "soft_metadata_queue_rows": 16384,
+ "soft_raw_queue_bytes": 268435456,
+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/24/videos/24_3/cam_right_wrist_recorder_stats.json b/24/videos/24_3/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d125bea99194b084d653625c5c44ebd9a8dab4
--- /dev/null
+++ b/24/videos/24_3/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+ "diagnostics_mode": "summary",
+ "diagnostics_path": null,
+ "first_recv_ns": 1787016485585066480,
+ "frames_dropped_invalid": 0,
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+ "frames_metadata_written": 474,
+ "frames_received": 474,
+ "frames_remuxed": 474,
+ "frames_written": 474,
+ "last_recv_ns": 1787016501337002460,
+ "max_callback_queue_bytes": 33958,
+ "max_callback_queue_items": 1,
+ "max_enqueue_wait_ns": 36993,
+ "max_header_ahead_ns": 0,
+ "max_header_behind_ns": 0,
+ "max_metadata_flush_ns": 6262226,
+ "max_metadata_queue_items": 1,
+ "max_raw_queue_bytes": 33958,
+ "max_raw_queue_items": 1,
+ "max_raw_write_ns": 8521990,
+ "metadata_error": null,
+ "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_right_wrist.mp4",
+ "name": "cam_right_wrist",
+ "pressure_warning_count": 0,
+ "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_right_wrist.mjpeg.tmp",
+ "raw_queue_bytes_current": 0,
+ "raw_write_error": null,
+ "remux_duration_ns": 299764413,
+ "remux_error": null,
+ "remux_status": "done",
+ "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/25/segments/3/videos/cam_right_wrist_timestamps.parquet",
+ "soft_callback_queue_bytes": 134217728,
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+ "soft_raw_queue_frames": 256,
+ "timestamp_future_warning_count": 0,
+ "timestamp_past_warning_count": 0,
+ "timestamp_warning_count": 0,
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/26/episode_info.json b/26/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a95e70c9d2ec44b4d03757a134be186c44c6137a
--- /dev/null
+++ b/26/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 26,
+ "timestamp": "2026-08-18T01:30:34Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.690172775
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.690172775,
+ 16.273265241
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.273265241,
+ 23.296314138
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.296314138,
+ 40.537598360000004
+ ]
+ }
+ ],
+ "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..fd6e5d21783e8966b474aa858f7962e4a2863e4d
--- /dev/null
+++ b/26/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 40861944695
+ starting_time:
+ nanoseconds_since_epoch: 1787016593160283374
+ message_count: 36274
+ 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: 4055
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4056
+ - 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: 4056
+ - 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: 4056
+ - 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: 4056
+ - 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: 4056
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4056
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7883
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 26_0.mcap
+ - 26_1.mcap
+ - 26_2.mcap
+ - 26_3.mcap
+ files:
+ - path: 26_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016593160283374
+ duration:
+ nanoseconds: 6690172775
+ message_count: 5986
+ - path: 26_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016599970287722
+ duration:
+ nanoseconds: 9583092466
+ message_count: 8575
+ - path: 26_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016609680286978
+ duration:
+ nanoseconds: 7023048897
+ message_count: 6289
+ - path: 26_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016616780943847
+ duration:
+ nanoseconds: 17241284222
+ message_count: 15424
+ custom_data: null
+ ros_distro: jazzy
diff --git a/27/episode_info.json b/27/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..83094d1f7f6bb9449781d052d771baf18d9ff0de
--- /dev/null
+++ b/27/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 27,
+ "timestamp": "2026-08-18T01:32:14Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.443205227
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.443205227,
+ 16.064574497000002
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.064574497000002,
+ 23.858744312000002
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.858744312000002,
+ 41.290223939
+ ]
+ }
+ ],
+ "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..c05c07895dbe75e1f1ab1058e6cc87d65daff336
--- /dev/null
+++ b/27/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 41559194617
+ starting_time:
+ nanoseconds_since_epoch: 1787016692692576064
+ message_count: 36683
+ 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: 4131
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4129
+ - 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: 4005
+ - 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: 4004
+ - 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: 4131
+ - 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: 4131
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4130
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8022
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 27_0.mcap
+ - 27_1.mcap
+ - 27_2.mcap
+ - 27_3.mcap
+ files:
+ - path: 27_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016692692576064
+ duration:
+ nanoseconds: 6443205227
+ message_count: 5763
+ - path: 27_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016699260288569
+ duration:
+ nanoseconds: 9621369270
+ message_count: 8606
+ - path: 27_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016708960285836
+ duration:
+ nanoseconds: 7794169815
+ message_count: 6975
+ - path: 27_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016716820291054
+ duration:
+ nanoseconds: 17431479627
+ message_count: 15339
+ 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..164d5da5b0aae42d8e0c72ab1980ce76753c12af
--- /dev/null
+++ b/28/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 28,
+ "timestamp": "2026-08-18T01:33:22Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.551392355
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.551392355,
+ 16.832787164
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.832787164,
+ 24.572713446999998
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 24.572713446999998,
+ 43.54990707899999
+ ]
+ }
+ ],
+ "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..31363175965f18ebfda31df1989b4e76d27eef96
--- /dev/null
+++ b/28/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 43817184692
+ starting_time:
+ nanoseconds_since_epoch: 1787016758810282757
+ message_count: 38970
+ 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: 4357
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4355
+ - 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: 4356
+ - 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: 4356
+ - 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: 4356
+ - 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: 4356
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4358
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8476
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 28_0.mcap
+ - 28_1.mcap
+ - 28_2.mcap
+ - 28_3.mcap
+ files:
+ - path: 28_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016758810282757
+ duration:
+ nanoseconds: 6551392355
+ message_count: 5864
+ - path: 28_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016765450279795
+ duration:
+ nanoseconds: 10281394809
+ message_count: 9200
+ - path: 28_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016775831695836
+ duration:
+ nanoseconds: 7739926283
+ message_count: 6926
+ - path: 28_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787016783650273817
+ duration:
+ nanoseconds: 18977193632
+ message_count: 16980
+ 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/29/camera_info/cam_left_head.yaml b/29/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bcc7d633e655c6ea2bd4385fdde5214825403f84
--- /dev/null
+++ b/29/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_left_camera_optical_frame
+ stamp:
+ sec: 1787016843
+ nanosec: 434308899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
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+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/cam_left_wrist.yaml b/29/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4e079bedca39fdbcf3df777ee8bde183c771805a
--- /dev/null
+++ b/29/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: camera_left_color_optical_frame
+ stamp:
+ sec: 1787016843
+ nanosec: 436581787
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.055807001888751984
+- 0.06341736763715744
+- 1.8616066881804727e-05
+- 0.00040977270691655576
+- -0.02199416421353817
+k:
+- 217.81771850585938
+- 0.0
+- 211.0225830078125
+- 0.0
+- 217.53515625
+- 120.03814697265625
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 217.81771850585938
+- 0.0
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+- 0.0
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+- 120.03814697265625
+- 0.0
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+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/cam_right_head.yaml b/29/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..64649f09386b99d35262b04cf1ec65de03877233
--- /dev/null
+++ b/29/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+ frame_id: zed_right_camera_optical_frame
+ stamp:
+ sec: 1787016843
+ nanosec: 434308899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- -22.995315551757812
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+binning_x: 0
+binning_y: 0
+roi:
+ x_offset: 0
+ y_offset: 0
+ height: 0
+ width: 0
+ do_rectify: false
diff --git a/29/camera_info/camera_metadata.yaml b/29/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/29/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+ cam_left_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/left/camera_info
+ cam_left_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+ camera_info_topic: /camera_left/camera_left/color/camera_info
+ cam_right_head:
+ rotation_deg: 0
+ rotation_applied_at: record
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
+ camera_info_topic: /zed/zed_node/right/camera_info
+ cam_right_wrist:
+ rotation_deg: 270
+ rotation_applied_at: record
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+ camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/3/episode_info.json b/3/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64cdcd69e30e4ef99257964750f14f8c697766a
--- /dev/null
+++ b/3/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 3,
+ "timestamp": "2026-08-18T00:22:53Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.328256142
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.328256142,
+ 15.810616279000001
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 15.810616279000001,
+ 22.193085092
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 22.193085092,
+ 39.865914505
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/3/metadata.yaml b/3/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..110f1fc445a4dfa25063a2d8b8eef354c1209f6a
--- /dev/null
+++ b/3/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 40130872670
+ starting_time:
+ nanoseconds_since_epoch: 1787012532806416557
+ message_count: 35395
+ 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: 3989
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3987
+ - 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: 3846
+ - 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: 3845
+ - 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: 3988
+ - 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: 3988
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3989
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7763
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 3_0.mcap
+ - 3_1.mcap
+ - 3_2.mcap
+ - 3_3.mcap
+ files:
+ - path: 3_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012532806416557
+ duration:
+ nanoseconds: 6328256142
+ message_count: 5660
+ - path: 3_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012539224458474
+ duration:
+ nanoseconds: 9482360137
+ message_count: 8488
+ - path: 3_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012548804451738
+ duration:
+ nanoseconds: 6382468813
+ message_count: 5718
+ - path: 3_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787012555264459814
+ duration:
+ nanoseconds: 17672829413
+ message_count: 15529
+ custom_data: null
+ ros_distro: jazzy
diff --git a/3/robot.urdf b/3/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/3/robot.urdf
@@ -0,0 +1,1237 @@
+
+
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\ No newline at end of file
diff --git a/31/episode_info.json b/31/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..38f9f6161879c91e092896d49c721e3aaf7e4960
--- /dev/null
+++ b/31/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 31,
+ "timestamp": "2026-08-18T01:38:34Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.931603694
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.931603694,
+ 18.591009874
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 18.591009874,
+ 25.368639421
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 25.368639421,
+ 41.680677726
+ ]
+ }
+ ],
+ "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..3cfb796a3e71f91c6f26899ac6121a5b98f7868a
--- /dev/null
+++ b/31/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 41952037991
+ starting_time:
+ nanoseconds_since_epoch: 1787017072640283119
+ message_count: 37291
+ 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: 4170
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4169
+ - 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: 4168
+ - 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: 4168
+ - 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: 4170
+ - 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: 4170
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4169
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8107
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 31_0.mcap
+ - 31_1.mcap
+ - 31_2.mcap
+ - 31_3.mcap
+ files:
+ - path: 31_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017072640283119
+ duration:
+ nanoseconds: 7931603694
+ message_count: 7099
+ - path: 31_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017080666855662
+ duration:
+ nanoseconds: 10659406180
+ message_count: 9536
+ - path: 31_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017091422709788
+ duration:
+ nanoseconds: 6777629547
+ message_count: 6063
+ - path: 31_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017098280282805
+ duration:
+ nanoseconds: 16312038305
+ message_count: 14593
+ 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..1ceedb9e576d8430f53fcb67469642debabb32f1
--- /dev/null
+++ b/32/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 32,
+ "timestamp": "2026-08-18T01:39:47Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.906595564
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.906595564,
+ 20.499279934
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 20.499279934,
+ 28.056572707
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 28.056572707,
+ 43.618768157000005
+ ]
+ }
+ ],
+ "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..e55b701e01e88831ec7a195505ac9a9b2fa12a9c
--- /dev/null
+++ b/32/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 43902188421
+ starting_time:
+ nanoseconds_since_epoch: 1787017143330288622
+ message_count: 38865
+ 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: 4364
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4363
+ - 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: 4279
+ - 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: 4279
+ - 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: 4364
+ - 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: 4364
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4363
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8489
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 32_0.mcap
+ - 32_1.mcap
+ - 32_2.mcap
+ - 32_3.mcap
+ files:
+ - path: 32_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017143330288622
+ duration:
+ nanoseconds: 7906595564
+ message_count: 7078
+ - path: 32_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017151350294894
+ duration:
+ nanoseconds: 12592684370
+ message_count: 11268
+ - path: 32_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017164040279746
+ duration:
+ nanoseconds: 7557292773
+ message_count: 6761
+ - path: 32_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787017171670281593
+ duration:
+ nanoseconds: 15562195450
+ message_count: 13758
+ 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/6/episode_info.json b/6/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb85dbb4d7dfd5bf54b6884595cb7c443d5c3e12
--- /dev/null
+++ b/6/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 6,
+ "timestamp": "2026-08-18T00:34:43Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.110093536
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.110093536,
+ 16.922262309
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.922262309,
+ 23.363047327
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.363047327,
+ 45.221137918
+ ]
+ }
+ ],
+ "transcoding_status": "done",
+ "video_remux_status": "done",
+ "transcoding_cameras_failed": {}
+}
\ No newline at end of file
diff --git a/6/metadata.yaml b/6/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49ceded6a1836ae33eb4e675c082b9bd44a2cca0
--- /dev/null
+++ b/6/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 45488099112
+ starting_time:
+ nanoseconds_since_epoch: 1787013237536422493
+ message_count: 40242
+ 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: 4522
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4524
+ - 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: 4410
+ - 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: 4410
+ - 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: 4522
+ - 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: 4522
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4525
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8807
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 6_0.mcap
+ - 6_1.mcap
+ - 6_2.mcap
+ - 6_3.mcap
+ files:
+ - path: 6_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013237536422493
+ duration:
+ nanoseconds: 7110093536
+ message_count: 6358
+ - path: 6_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013244744451702
+ duration:
+ nanoseconds: 9812168773
+ message_count: 8787
+ - path: 6_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013254646397544
+ duration:
+ nanoseconds: 6440785018
+ message_count: 5762
+ - path: 6_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013261166431014
+ duration:
+ nanoseconds: 21858090591
+ message_count: 19335
+ custom_data: null
+ ros_distro: jazzy
diff --git a/6/robot.urdf b/6/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70d468b8823e76223be4b69e25b09aa24224965a
--- /dev/null
+++ b/6/robot.urdf
@@ -0,0 +1,1237 @@
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+
\ No newline at end of file
diff --git a/7/episode_info.json b/7/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c1fe46ea20b7b0e0e273cc547e2f83bc9456e9
--- /dev/null
+++ b/7/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 7,
+ "timestamp": "2026-08-18T00:36:35Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 6.688190433
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 6.688190433,
+ 23.498257023
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 23.498257023,
+ 26.573764945
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 26.573764945,
+ 45.613910766000004
+ ]
+ }
+ ],
+ "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..7c1e99d5fe2e6dbf3818971cfc8a9b21b788866d
--- /dev/null
+++ b/7/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 45848185151
+ starting_time:
+ nanoseconds_since_epoch: 1787013348986426866
+ message_count: 40807
+ 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: 4563
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4562
+ - 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: 4563
+ - 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: 4561
+ - 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: 4561
+ - 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: 4561
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 4562
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 8874
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 7_0.mcap
+ - 7_1.mcap
+ - 7_2.mcap
+ - 7_3.mcap
+ files:
+ - path: 7_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013348986426866
+ duration:
+ nanoseconds: 6688190433
+ message_count: 5981
+ - path: 7_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013355744451345
+ duration:
+ nanoseconds: 16810066590
+ message_count: 15039
+ - path: 7_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013372624469644
+ duration:
+ nanoseconds: 3075507922
+ message_count: 2755
+ - path: 7_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013375794466196
+ duration:
+ nanoseconds: 19040145821
+ message_count: 17032
+ 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..5b07b74397ad6f1a4830faa6db0df05a12261322
--- /dev/null
+++ b/9/episode_info.json
@@ -0,0 +1,43 @@
+{
+ "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+ "task_num": "1",
+ "task_name": "screwing",
+ "robot_type": "ffw_sg2_rev1",
+ "device_serial": "ffw-SNPR48A1106",
+ "episode_index": 9,
+ "timestamp": "2026-08-18T00:40:03Z",
+ "format_version": "robotis_v2",
+ "segments": [
+ {
+ "sub_task_instruction": "Grab the orange screw",
+ "frame_duration": [
+ 0.0,
+ 7.770063536
+ ]
+ },
+ {
+ "sub_task_instruction": "Place the orange screw into the hole",
+ "frame_duration": [
+ 7.770063536,
+ 16.750335391
+ ]
+ },
+ {
+ "sub_task_instruction": "Grab the driver",
+ "frame_duration": [
+ 16.750335391,
+ 23.263061881
+ ]
+ },
+ {
+ "sub_task_instruction": "Screw it",
+ "frame_duration": [
+ 23.263061881,
+ 38.237168827
+ ]
+ }
+ ],
+ "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..02e96296c6f4750a740ff6362fd8213b08e69be7
--- /dev/null
+++ b/9/metadata.yaml
@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+ version: 9
+ storage_identifier: mcap
+ duration:
+ nanoseconds: 38521399736
+ starting_time:
+ nanoseconds_since_epoch: 1787013564776428835
+ message_count: 34217
+ 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: 3826
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3825
+ - 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: 3825
+ - 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: 3825
+ - 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: 3826
+ - 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: 3826
+ - topic_metadata:
+ name: /odom
+ type: nav_msgs/msg/Odometry
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 3826
+ - topic_metadata:
+ name: /tf
+ type: tf2_msgs/msg/TFMessage
+ serialization_format: cdr
+ offered_qos_profiles: []
+ type_description_hash: ''
+ message_count: 7438
+ compression_format: ''
+ compression_mode: ''
+ relative_file_paths:
+ - 9_0.mcap
+ - 9_1.mcap
+ - 9_2.mcap
+ - 9_3.mcap
+ files:
+ - path: 9_0.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013564776428835
+ duration:
+ nanoseconds: 7770063536
+ message_count: 6951
+ - path: 9_1.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013572654468248
+ duration:
+ nanoseconds: 8980271855
+ message_count: 8035
+ - path: 9_2.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013581744478401
+ duration:
+ nanoseconds: 6512726490
+ message_count: 5830
+ - path: 9_3.mcap
+ starting_time:
+ nanoseconds_since_epoch: 1787013588323721625
+ duration:
+ nanoseconds: 14974106946
+ message_count: 13401
+ 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