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collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_1/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 69899521536
+  starting_time:
+    nanoseconds_since_epoch: 1761616518640876032
+  message_count: 304754
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 195722
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13980
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13980
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13980
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13980
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13980
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13980
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2096
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2096
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2096
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2095
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_1_0.mcap
+  files:
+    - path: 叠奶白色毛巾_1_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761616518640876032
+      duration:
+        nanoseconds: 69899521536
+      message_count: 304754

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_1/叠奶白色毛巾_1_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 304754,
+        "start_time": "2025-10-28T09:55:18.640876032+08:00",
+        "start_timestamp": 1761616518.640876,
+        "end_time": "2025-10-28T09:56:28.540397568+08:00",
+        "end_timestamp": 1761616588.5403976,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
+            {
+                "topic": "/master/joint_left",
+                "count": 13980,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/master/joint_right",
+                "count": 13980,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_left",
+                "count": 13980,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_right",
+                "count": 13980,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/image_raw",
+                "count": 2096,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/image_raw",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/image_raw",
+                "count": 2096,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/image_raw",
+                "count": 2096,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/camera_info",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/camera_info",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/camera_info",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/camera_info",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/metadata",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/metadata",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/metadata",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/metadata",
+                "count": 2095,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/end_pose_left",
+                "count": 13980,
+                "frequency": 200.0,
+                "type": "geometry_msgs/msg/PoseStamped",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/end_pose_right",
+                "count": 13980,
+                "frequency": 200.0,
+                "type": "geometry_msgs/msg/PoseStamped",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf",
+                "count": 195722,
+                "frequency": 2800.05,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.13,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 1,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_1_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_19/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 69666694400
+  starting_time:
+    nanoseconds_since_epoch: 1761623375298044672
+  message_count: 303733
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 195065
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13933
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13933
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2089
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2089
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13933
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13933
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13933
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13933
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2089
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2089
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2088
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2089
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_19_0.mcap
+  files:
+    - path: 叠奶白色毛巾_19_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761623375298044672
+      duration:
+        nanoseconds: 69666694400
+      message_count: 303733

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_19/叠奶白色毛巾_19_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 303733,
+        "start_time": "2025-10-28T11:49:35.298044672+08:00",
+        "start_timestamp": 1761623375.2980447,
+        "end_time": "2025-10-28T11:50:44.964739072+08:00",
+        "end_timestamp": 1761623444.964739,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
+            {
+                "topic": "/master/joint_left",
+                "count": 13933,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/master/joint_right",
+                "count": 13933,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_left",
+                "count": 13933,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_right",
+                "count": 13933,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/image_raw",
+                "count": 2089,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/image_raw",
+                "count": 2089,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/image_raw",
+                "count": 2089,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/image_raw",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/camera_info",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/camera_info",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/camera_info",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/camera_info",
+                "count": 2089,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/metadata",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/metadata",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/metadata",
+                "count": 2088,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/metadata",
+                "count": 2089,
+                "frequency": 29.99,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/end_pose_left",
+                "count": 13933,
+                "frequency": 200.0,
+                "type": "geometry_msgs/msg/PoseStamped",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/end_pose_right",
+                "count": 13933,
+                "frequency": 200.0,
+                "type": "geometry_msgs/msg/PoseStamped",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf",
+                "count": 195065,
+                "frequency": 2799.97,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.13,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 19,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_19_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_20/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 77303501312
+  starting_time:
+    nanoseconds_since_epoch: 1761623491470140928
+  message_count: 337035
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 216450
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15461
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15461
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2317
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2317
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2318
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2317
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15461
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2318
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15461
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15461
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2317
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15461
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2318
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2318
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2318
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2318
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2317
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2317
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_20_0.mcap
+  files:
+    - path: 叠奶白色毛巾_20_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761623491470140928
+      duration:
+        nanoseconds: 77303501312
+      message_count: 337035

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_20/叠奶白色毛巾_20_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 337035,
+        "start_time": "2025-10-28T11:51:31.470140928+08:00",
+        "start_timestamp": 1761623491.470141,
+        "end_time": "2025-10-28T11:52:48.77364224+08:00",
+        "end_timestamp": 1761623568.7736423,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
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+                "topic": "/master/joint_left",
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+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/master/joint_right",
+                "count": 15461,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
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+            },
+            {
+                "topic": "/puppet/joint_left",
+                "count": 15461,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
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+            },
+            {
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+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/image_raw",
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+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/image_raw",
+                "count": 2317,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/image_raw",
+                "count": 2318,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/image_raw",
+                "count": 2317,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/camera_info",
+                "count": 2318,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/camera_info",
+                "count": 2318,
+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/camera_info",
+                "count": 2317,
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+                "type": "sensor_msgs/msg/CameraInfo",
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+            },
+            {
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+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
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+            },
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+                "type": "realsense2_camera_msgs/msg/Metadata",
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+            },
+            {
+                "topic": "/camera_f/color/metadata",
+                "count": 2318,
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+                "type": "realsense2_camera_msgs/msg/Metadata",
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+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
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+                "count": 15461,
+                "frequency": 200.0,
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+            },
+            {
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+            },
+            {
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+                "count": 9,
+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 20,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_20_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_21/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 123011008256
+  starting_time:
+    nanoseconds_since_epoch: 1761623585727947264
+  message_count: 536304
+  topics_with_message_count:
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+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 344431
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 24602
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 24602
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3687
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3687
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 24602
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 24602
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 24602
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 24602
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3687
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3688
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3687
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_21_0.mcap
+  files:
+    - path: 叠奶白色毛巾_21_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761623585727947264
+      duration:
+        nanoseconds: 123011008256
+      message_count: 536304

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_21/叠奶白色毛巾_21_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+        "profile": "ros2",
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+        "start_time": "2025-10-28T11:53:05.727947264+08:00",
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+        "channels": 20,
+        "attachments": 0,
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+        "topics": [
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+        "episode": 21,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_21_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_22/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 77476067584
+  starting_time:
+    nanoseconds_since_epoch: 1761623742957515776
+  message_count: 337786
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 216938
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15495
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15495
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2323
+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2323
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15495
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2323
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15495
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15495
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15495
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2323
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2322
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2323
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_22_0.mcap
+  files:
+    - path: 叠奶白色毛巾_22_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761623742957515776
+      duration:
+        nanoseconds: 77476067584
+      message_count: 337786

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_22/叠奶白色毛巾_22_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 337786,
+        "start_time": "2025-10-28T11:55:42.957515776+08:00",
+        "start_timestamp": 1761623742.9575157,
+        "end_time": "2025-10-28T11:57:00.43358336+08:00",
+        "end_timestamp": 1761623820.4335833,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
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+                "serialization_format": "ros2msg"
+            },
+            {
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+            },
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+            },
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+                "type": "sensor_msgs/msg/JointState",
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+            },
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
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+                "count": 2322,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
+                "topic": "/camera_r/color/image_raw",
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+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
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+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
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+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
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+            },
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+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CameraInfo",
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+            {
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+            },
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+            },
+            {
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+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 22,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_22_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_23/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 87581277440
+  starting_time:
+    nanoseconds_since_epoch: 1761623864440088064
+  message_count: 381850
+  topics_with_message_count:
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+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 245232
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 17517
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 17517
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2625
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2625
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2625
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 17517
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 17517
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 17517
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2625
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 17517
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2626
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2625
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_23_0.mcap
+  files:
+    - path: 叠奶白色毛巾_23_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761623864440088064
+      duration:
+        nanoseconds: 87581277440
+      message_count: 381850

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_23/叠奶白色毛巾_23_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+        ]
+    },
+    "task_info": {
+        "episode": 23,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_23_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_26/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 82490701824
+  starting_time:
+    nanoseconds_since_epoch: 1761629754839033088
+  message_count: 359647
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 230974
+    - topic_metadata:
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+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
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+        offered_qos_profiles: ""
+      message_count: 16498
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 16498
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 16498
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 16498
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 16498
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2474
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2472
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2473
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_26_0.mcap
+  files:
+    - path: 叠奶白色毛巾_26_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761629754839033088
+      duration:
+        nanoseconds: 82490701824
+      message_count: 359647

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_26/叠奶白色毛巾_26_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
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+        "start_time": "2025-10-28T13:35:54.839033088+08:00",
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+        "end_time": "2025-10-28T13:37:17.329734912+08:00",
+        "end_timestamp": 1761629837.3297348,
+        "channels": 20,
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+        "metadata": 1,
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+            },
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+                "type": "sensor_msgs/msg/JointState",
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+            },
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+            },
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
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+            },
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+                "type": "sensor_msgs/msg/CameraInfo",
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+                "frequency": 0.11,
+                "type": "tf2_msgs/msg/TFMessage",
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+            }
+        ]
+    },
+    "task_info": {
+        "episode": 26,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_26_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_27/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
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+  starting_time:
+    nanoseconds_since_epoch: 1761629874130117632
+  message_count: 486883
+  topics_with_message_count:
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+        type: tf2_msgs/msg/TFMessage
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+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 312690
+    - topic_metadata:
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+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 22335
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 22335
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 22335
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3348
+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3347
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3347
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3348
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_27_0.mcap
+  files:
+    - path: 叠奶白色毛巾_27_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761629874130117632
+      duration:
+        nanoseconds: 111674823680
+      message_count: 486883

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_27/叠奶白色毛巾_27_0_info.json

@@ -0,0 +1,163 @@
+{
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+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 27,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_27_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_28/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 72237415680
+  starting_time:
+    nanoseconds_since_epoch: 1761630006311831296
+  message_count: 314937
+  topics_with_message_count:
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+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
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+        offered_qos_profiles: ""
+      message_count: 14447
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 14447
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 14447
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2165
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2165
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2165
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2164
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2166
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2165
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_28_0.mcap
+  files:
+    - path: 叠奶白色毛巾_28_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761630006311831296
+      duration:
+        nanoseconds: 72237415680
+      message_count: 314937

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_28/叠奶白色毛巾_28_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+        "start_time": "2025-10-28T13:40:06.311831296+08:00",
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+            },
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+            },
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
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+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 28,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_28_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_29/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
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+  starting_time:
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+  message_count: 414298
+  topics_with_message_count:
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+      message_count: 9
+    - topic_metadata:
+        name: /tf
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19005
+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2848
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2849
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2848
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 19005
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 19005
+    - topic_metadata:
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+      message_count: 2849
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19005
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2849
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2849
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2848
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2849
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2848
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2849
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_29_0.mcap
+  files:
+    - path: 叠奶白色毛巾_29_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761630297663031040
+      duration:
+        nanoseconds: 95024301568
+      message_count: 414298

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_29/叠奶白色毛巾_29_0_info.json

@@ -0,0 +1,163 @@
+{
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+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 29,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_29_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_3/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 97662399744
+  starting_time:
+    nanoseconds_since_epoch: 1761616637336717056
+  message_count: 425792
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 273451
+    - topic_metadata:
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+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19533
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19533
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19533
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 19533
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2928
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2928
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2928
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2927
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2928
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2928
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_3_0.mcap
+  files:
+    - path: 叠奶白色毛巾_3_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761616637336717056
+      duration:
+        nanoseconds: 97662399744
+      message_count: 425792

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_3/叠奶白色毛巾_3_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
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+        "start_time": "2025-10-28T09:57:17.336717056+08:00",
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+        "end_timestamp": 1761616734.999117,
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+            },
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+                "type": "sensor_msgs/msg/JointState",
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+            {
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+            },
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
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+            },
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+                "type": "sensor_msgs/msg/CameraInfo",
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+            },
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+                "frequency": 0.09,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 3,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_3_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_36/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 79247324928
+  starting_time:
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+  message_count: 345518
+  topics_with_message_count:
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+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 221901
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15850
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2375
+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15850
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2375
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_36_0.mcap
+  files:
+    - path: 叠奶白色毛巾_36_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761632781498271488
+      duration:
+        nanoseconds: 79247324928
+      message_count: 345518

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_36/叠奶白色毛巾_36_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+            {
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+                "count": 9,
+                "frequency": 0.11,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 36,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_36_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_4/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 78223796736
+  starting_time:
+    nanoseconds_since_epoch: 1761617683279185408
+  message_count: 341046
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 219030
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15644
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15645
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2346
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15644
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15645
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15645
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 15644
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2344
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2345
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_4_0.mcap
+  files:
+    - path: 叠奶白色毛巾_4_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761617683279185408
+      duration:
+        nanoseconds: 78223796736
+      message_count: 341046

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_4/叠奶白色毛巾_4_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 341046,
+        "start_time": "2025-10-28T10:14:43.279185408+08:00",
+        "start_timestamp": 1761617683.2791853,
+        "end_time": "2025-10-28T10:16:01.502982144+08:00",
+        "end_timestamp": 1761617761.5029821,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
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+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
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+                "type": "sensor_msgs/msg/JointState",
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+            },
+            {
+                "topic": "/puppet/joint_left",
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+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
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+            },
+            {
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+                "frequency": 199.99,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/image_raw",
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+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
+                "topic": "/camera_f/color/image_raw",
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+                "frequency": 29.99,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/image_raw",
+                "count": 2345,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/image_raw",
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+                "frequency": 29.97,
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+            },
+            {
+                "topic": "/camera_l/color/camera_info",
+                "count": 2345,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/camera_info",
+                "count": 2345,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CameraInfo",
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+            },
+            {
+                "topic": "/camera_r/color/camera_info",
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+                "frequency": 29.98,
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+            },
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+            },
+            {
+                "topic": "/camera_f/color/metadata",
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+                "frequency": 29.98,
+                "type": "realsense2_camera_msgs/msg/Metadata",
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+                "type": "realsense2_camera_msgs/msg/Metadata",
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+            },
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+            },
+            {
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+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 4,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_4_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_6/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 99849451008
+  starting_time:
+    nanoseconds_since_epoch: 1761617914288656896
+  message_count: 435334
+  topics_with_message_count:
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+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 279587
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19970
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19970
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2993
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2993
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2994
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2993
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19970
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2994
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19970
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19970
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2993
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 19970
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2994
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2994
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2992
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2992
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2993
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2993
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_6_0.mcap
+  files:
+    - path: 叠奶白色毛巾_6_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761617914288656896
+      duration:
+        nanoseconds: 99849451008
+      message_count: 435334

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_6/叠奶白色毛巾_6_0_info.json

@@ -0,0 +1,163 @@
+{
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+        "profile": "ros2",
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+        "start_time": "2025-10-28T10:18:34.288656896+08:00",
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+        "topics": [
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+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.09,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 6,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_6_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_65/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 94967503872
+  starting_time:
+    nanoseconds_since_epoch: 1761635331679388160
+  message_count: 414050
+  topics_with_message_count:
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+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
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+        offered_qos_profiles: ""
+      message_count: 18994
+    - topic_metadata:
+        name: /camera_r/color/metadata
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 18994
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+    - topic_metadata:
+        name: /puppet/joint_left
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+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
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+      message_count: 18994
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2847
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2847
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2848
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2847
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2847
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2847
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_65_0.mcap
+  files:
+    - path: 叠奶白色毛巾_65_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761635331679388160
+      duration:
+        nanoseconds: 94967503872
+      message_count: 414050

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_65/叠奶白色毛巾_65_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+            },
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+            },
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+            },
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+                "frequency": 0.09,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 65,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_65_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_70/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
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+  starting_time:
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+  message_count: 317856
+  topics_with_message_count:
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+      message_count: 9
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14581
+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
+      message_count: 2185
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2185
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2187
+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2185
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2185
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2185
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_70_0.mcap
+  files:
+    - path: 叠奶白色毛巾_70_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761635925199595264
+      duration:
+        nanoseconds: 72903604480
+      message_count: 317856

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_70/叠奶白色毛巾_70_0_info.json

@@ -0,0 +1,163 @@
+{
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+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 70,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_70_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_73/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 72343877376
+  starting_time:
+    nanoseconds_since_epoch: 1761637945946634752
+  message_count: 315407
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14469
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14469
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2168
+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 14469
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+      message_count: 2168
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 14469
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2169
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2169
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2168
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2169
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2169
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2168
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_73_0.mcap
+  files:
+    - path: 叠奶白色毛巾_73_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761637945946634752
+      duration:
+        nanoseconds: 72343877376
+      message_count: 315407

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_73/叠奶白色毛巾_73_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
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+        "start_time": "2025-10-28T15:52:25.946634752+08:00",
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+        "end_timestamp": 1761638018.290512,
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+            },
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+            },
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+            },
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+            },
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
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+            },
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+            },
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+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 73,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_73_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_8/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 68041439232
+  starting_time:
+    nanoseconds_since_epoch: 1761618113159284736
+  message_count: 296653
+  topics_with_message_count:
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+        name: /tf_static
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+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 190518
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13608
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13608
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2039
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13608
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+      message_count: 13608
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13608
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 13608
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2039
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2040
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_8_0.mcap
+  files:
+    - path: 叠奶白色毛巾_8_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761618113159284736
+      duration:
+        nanoseconds: 68041439232
+      message_count: 296653

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_8/叠奶白色毛巾_8_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+        "profile": "ros2",
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+        "start_time": "2025-10-28T10:21:53.159284736+08:00",
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+                "frequency": 2800.03,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.13,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 8,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_8_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_9/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 77127575808
+  starting_time:
+    nanoseconds_since_epoch: 1761619224514095872
+  message_count: 336259
+  topics_with_message_count:
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+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
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+        offered_qos_profiles: ""
+      message_count: 15425
+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2312
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2312
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2312
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2312
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2312
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2312
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠奶白色毛巾_9_0.mcap
+  files:
+    - path: 叠奶白色毛巾_9_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761619224514095872
+      duration:
+        nanoseconds: 77127575808
+      message_count: 336259

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/叠奶白色毛巾_9/叠奶白色毛巾_9_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
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+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
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+            }
+        ]
+    },
+    "task_info": {
+        "episode": 9,
+        "task_id": "1982678262200131586",
+        "task_name": "叠奶白色毛巾",
+        "file_name": "叠奶白色毛巾_9_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_12/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
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+  starting_time:
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+  message_count: 466874
+  topics_with_message_count:
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+      message_count: 9
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+        name: /tf
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+        type: sensor_msgs/msg/JointState
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+    - topic_metadata:
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+        offered_qos_profiles: ""
+      message_count: 3210
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 3210
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3211
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3211
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3210
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3210
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠粉色毛巾_12_0.mcap
+  files:
+    - path: 叠粉色毛巾_12_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761622588095319808
+      duration:
+        nanoseconds: 107090944256
+      message_count: 466874

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_12/叠粉色毛巾_12_0_info.json

@@ -0,0 +1,163 @@
+{
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+                "count": 299831,
+                "frequency": 2799.78,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.08,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 12,
+        "task_id": "1982678484242391042",
+        "task_name": "叠粉色毛巾",
+        "file_name": "叠粉色毛巾_12_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_13/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 100003879680
+  starting_time:
+    nanoseconds_since_epoch: 1761622767127294976
+  message_count: 436001
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
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+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 280010
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 20001
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 20001
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+      message_count: 2998
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
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+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 20001
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 20001
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 20001
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 20001
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2998
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2998
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠粉色毛巾_13_0.mcap
+  files:
+    - path: 叠粉色毛巾_13_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761622767127294976
+      duration:
+        nanoseconds: 100003879680
+      message_count: 436001

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_13/叠粉色毛巾_13_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
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+        "start_time": "2025-10-28T11:39:27.127294976+08:00",
+        "start_timestamp": 1761622767.127295,
+        "end_time": "2025-10-28T11:41:07.131174656+08:00",
+        "end_timestamp": 1761622867.1311746,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
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+            },
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+                "type": "sensor_msgs/msg/JointState",
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+            },
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+            },
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+            },
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+                "type": "sensor_msgs/msg/CompressedImage",
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+            },
+            {
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+            },
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+            },
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+                "serialization_format": "ros2msg"
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+                "frequency": 29.98,
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+                "frequency": 0.09,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 13,
+        "task_id": "1982678484242391042",
+        "task_name": "叠粉色毛巾",
+        "file_name": "叠粉色毛巾_13_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_136/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 71269568256
+  starting_time:
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+  message_count: 310706
+  topics_with_message_count:
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+        name: /tf_static
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+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
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+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 199534
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14254
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2136
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2136
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2137
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14254
+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
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+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 14254
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
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+        offered_qos_profiles: ""
+      message_count: 14254
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2136
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14254
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2137
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2137
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2136
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2137
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2137
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2137
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠粉色毛巾_136_0.mcap
+  files:
+    - path: 叠粉色毛巾_136_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761642248934216960
+      duration:
+        nanoseconds: 71269568256
+      message_count: 310706

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_136/叠粉色毛巾_136_0_info.json

@@ -0,0 +1,163 @@
+{
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+        "profile": "ros2",
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+        "start_time": "2025-10-28T17:04:08.93421696+08:00",
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+                "frequency": 2799.71,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.13,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 136,
+        "task_id": "1982678484242391042",
+        "task_name": "叠粉色毛巾",
+        "file_name": "叠粉色毛巾_136_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_293/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
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+  starting_time:
+    nanoseconds_since_epoch: 1761716544839330816
+  message_count: 322058
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+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: realsense2_camera_msgs/msg/Metadata
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2523
+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2523
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2523
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2523
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠粉色毛巾_293_0.mcap
+  files:
+    - path: 叠粉色毛巾_293_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761716544839330816
+      duration:
+        nanoseconds: 84151510784
+      message_count: 322058

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_293/叠粉色毛巾_293_0_info.json

@@ -0,0 +1,163 @@
+{
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+            }
+        ]
+    },
+    "task_info": {
+        "episode": 293,
+        "task_id": "1982678484242391042",
+        "task_name": "叠粉色毛巾",
+        "file_name": "叠粉色毛巾_293_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_41/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
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+  storage_identifier: mcap
+  duration:
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+        type: geometry_msgs/msg/PoseStamped
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+    - topic_metadata:
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+    - topic_metadata:
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+    - topic_metadata:
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        offered_qos_profiles: ""
+      message_count: 2139
+    - topic_metadata:
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+        offered_qos_profiles: ""
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+    - topic_metadata:
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+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2139
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
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+        offered_qos_profiles: ""
+      message_count: 2139
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠粉色毛巾_41_0.mcap
+  files:
+    - path: 叠粉色毛巾_41_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761631360157109504
+      duration:
+        nanoseconds: 71351486208
+      message_count: 311086

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_41/叠粉色毛巾_41_0_info.json

@@ -0,0 +1,163 @@
+{
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+                "frequency": 2799.98,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.13,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 41,
+        "task_id": "1982678484242391042",
+        "task_name": "叠粉色毛巾",
+        "file_name": "叠粉色毛巾_41_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_48/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 107865073664
+  starting_time:
+    nanoseconds_since_epoch: 1761632062276268032
+  message_count: 470281
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 302030
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21573
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21573
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3233
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3233
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21573
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3233
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21573
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21573
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3233
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 21573
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 3234
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 叠粉色毛巾_48_0.mcap
+  files:
+    - path: 叠粉色毛巾_48_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761632062276268032
+      duration:
+        nanoseconds: 107865073664
+      message_count: 470281

collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/叠粉色毛巾_48/叠粉色毛巾_48_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 470281,
+        "start_time": "2025-10-28T14:14:22.276268032+08:00",
+        "start_timestamp": 1761632062.276268,
+        "end_time": "2025-10-28T14:16:10.141341696+08:00",
+        "end_timestamp": 1761632170.1413417,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
+            {
+                "topic": "/master/joint_left",
+                "count": 21573,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/master/joint_right",
+                "count": 21573,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_left",
+                "count": 21573,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_right",
+                "count": 21573,
+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/image_raw",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/image_raw",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/image_raw",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/image_raw",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/camera_info",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/camera_info",
+                "count": 3233,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/camera_info",
+                "count": 3233,
+                "frequency": 29.97,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/camera_info",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_l/color/metadata",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_f/color/metadata",
+                "count": 3233,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_r/color/metadata",
+                "count": 3233,
+                "frequency": 29.97,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/camera_fl/color/metadata",
+                "count": 3234,
+                "frequency": 29.98,
+                "type": "realsense2_camera_msgs/msg/Metadata",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/end_pose_left",
+                "count": 21573,
+                "frequency": 200.0,
+                "type": "geometry_msgs/msg/PoseStamped",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/end_pose_right",
+                "count": 21573,
+                "frequency": 200.0,
+                "type": "geometry_msgs/msg/PoseStamped",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf",
+                "count": 302030,
+                "frequency": 2800.07,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/tf_static",
+                "count": 9,
+                "frequency": 0.08,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 48,
+        "task_id": "1982678484242391042",
+        "task_name": "叠粉色毛巾",
+        "file_name": "叠粉色毛巾_48_0.mcap",
+        "steps": "在桌面随意一条白灰色毛巾（位置随机，在中间摄像头视线范围内）左夹⽖夹起⽑⼱向中间整理，右夹爪起⽑⼱向中间整理，左右夹爪夹最远端的两个角翻面平行，然后左右夹爪继续最远端的两个角对折，机械臂回到零点。;过程中⽑⼱不掉落;null"
+    }
+}