diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..6b7c2517b4a27cf150489073830378fad14ba05d --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1/metadata.yaml" @@ -0,0 +1,140 @@ +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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..82d8c46d859935f7b1a5435768d18e4f5c437c96 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_1/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..bf11c2bd8f1af02b791ab5edb25d151d9e785d83 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..ed559d52e74a2332e4979f3f691c7dbb96c5faf4 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_19/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..30b0bca32c8d0c8466224af0c0cbb2f0d6954d60 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..2d05e9387ca1da9ba48a5a241746ac34156b8112 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_20/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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": [ + { + "topic": "/master/joint_left", + "count": 15461, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15461, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15461, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15461, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2318, + "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, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2317, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2318, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2318, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2317, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2317, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15461, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15461, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 216450, + "frequency": 2800.0, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..2b61ed3047a2e3dca78e771438f7feb07ff54bcd --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..9fae0548067440464d4c8c097bd62c9bb44f935f --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_21_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 536304, + "start_time": "2025-10-28T11:53:05.727947264+08:00", + "start_timestamp": 1761623585.7279472, + "end_time": "2025-10-28T11:55:08.73895552+08:00", + "end_timestamp": 1761623708.7389555, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 24602, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 24602, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 24602, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 24602, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 3687, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 3687, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 3688, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 3688, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 3688, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 3688, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 3688, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 3687, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 3688, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 3688, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 3688, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 3687, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 24602, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 24602, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 344431, + "frequency": 2800.0, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.07, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..78b2cb3848a1f357ce3c744af0427b1dfc1e6e84 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2323 + - topic_metadata: + name: /camera_f/color/metadata + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..571ebff7d1fa788ad91734a05f5bb0a5bfac25ea --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_22/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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": [ + { + "topic": "/master/joint_left", + "count": 15495, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15495, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15495, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15495, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2323, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2322, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2322, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2322, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2322, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2323, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2322, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2323, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2322, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2323, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2322, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2323, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15495, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15495, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 216938, + "frequency": 2800.06, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..39fc11bc4cb1a2b5c67935499ea94e0214846206 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 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 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2626 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 17517 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 17517 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..87f15099ead5f0ce8dfe1c70cc9ea9e945772ae8 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_23_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 381850, + "start_time": "2025-10-28T11:57:44.440088064+08:00", + "start_timestamp": 1761623864.440088, + "end_time": "2025-10-28T11:59:12.021365504+08:00", + "end_timestamp": 1761623952.0213654, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 17517, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 17517, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 17517, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 17517, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2626, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2625, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2626, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2626, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2626, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2626, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2625, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2625, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2626, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2626, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2625, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2625, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 17517, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 17517, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 245232, + "frequency": 2800.05, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.1, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..4e3242687561da876e215b354eb54a6bc92eb0fa --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16498 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + 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: "" + message_count: 2473 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2473 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2473 + - topic_metadata: + name: /camera_f/color/image_raw + 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 + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..56316a24d73c3115f0283703e3ae5a75605034a3 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_26_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 359647, + "start_time": "2025-10-28T13:35:54.839033088+08:00", + "start_timestamp": 1761629754.8390331, + "end_time": "2025-10-28T13:37:17.329734912+08:00", + "end_timestamp": 1761629837.3297348, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 16498, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 16498, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 16498, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 16498, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2473, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2473, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2474, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2472, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2473, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2473, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2473, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2473, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2473, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2473, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2473, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2473, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 16498, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 16498, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 230974, + "frequency": 2800.0, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.11, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..e31d18511cc449069452e13ea7787239f8b4b0d8 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 111674823680 + starting_time: + nanoseconds_since_epoch: 1761629874130117632 + message_count: 486883 + 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: 312690 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 22335 + - 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: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3348 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + 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: "" + message_count: 22335 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3348 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 22335 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 22335 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3348 + - topic_metadata: + name: /puppet/joint_right + 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: + name: /camera_r/color/image_raw + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..ca6b7e1acf96df3bb0198abebbada289433a1257 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_27_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 486883, + "start_time": "2025-10-28T13:37:54.130117632+08:00", + "start_timestamp": 1761629874.1301177, + "end_time": "2025-10-28T13:39:45.804941312+08:00", + "end_timestamp": 1761629985.8049414, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 22335, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 22335, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 22335, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 22335, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 3348, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 3348, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 3347, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 3347, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 3348, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 3348, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 3348, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 3348, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 3348, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 3348, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 3348, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 3348, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 22335, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 22335, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 312690, + "frequency": 2800.0, + "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": 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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..7e12a4839b923e705f26f90f33d521b7ed7ee0d9 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 202268 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14447 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14447 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2164 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2165 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2165 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2165 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14447 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2165 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14447 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14447 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2164 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..b325f4a3a31d2ea3c7e960eace9294acc69458c9 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_28_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 314937, + "start_time": "2025-10-28T13:40:06.311831296+08:00", + "start_timestamp": 1761630006.3118312, + "end_time": "2025-10-28T13:41:18.549246976+08:00", + "end_timestamp": 1761630078.549247, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14447, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14447, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14447, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14447, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2165, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2165, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2164, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2166, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2165, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2165, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2164, + "frequency": 29.96, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2165, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2165, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2165, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2164, + "frequency": 29.96, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2165, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14447, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14447, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 202268, + "frequency": 2800.04, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..744c4142d8379684b4d63e3d59f42bfbc7da8cb2 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 95024301568 + starting_time: + nanoseconds_since_epoch: 1761630297663031040 + message_count: 414298 + 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: 266075 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19005 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19005 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2849 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2849 + - topic_metadata: + name: /camera_f/color/metadata + 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: "" + message_count: 19005 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2848 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19005 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19005 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..fd8062775ef473a08802833ad34deee405c6b00e --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_29_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 414298, + "start_time": "2025-10-28T13:44:57.66303104+08:00", + "start_timestamp": 1761630297.663031, + "end_time": "2025-10-28T13:46:32.687332608+08:00", + "end_timestamp": 1761630392.6873326, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 19005, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 19005, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 19005, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 19005, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2848, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2849, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2849, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2848, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2849, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2848, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2849, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2849, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2849, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2848, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2849, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2849, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 19005, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 19005, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 266075, + "frequency": 2800.07, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.09, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..d5ac2f0760473cacbd0ef9a3b95a431ac71d9303 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + name: /puppet/end_pose_right + 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: "" + message_count: 2928 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2928 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2928 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2927 + - topic_metadata: + name: /master/joint_right + 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 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2928 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19533 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19533 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2928 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..cf1154eb7fb5db19aca4e0c9df1fb4bff37481d8 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_3_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 425792, + "start_time": "2025-10-28T09:57:17.336717056+08:00", + "start_timestamp": 1761616637.3367171, + "end_time": "2025-10-28T09:58:54.9991168+08:00", + "end_timestamp": 1761616734.999117, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 19533, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 19533, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 19533, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 19533, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2928, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2927, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2927, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2928, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2928, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2928, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2928, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2928, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2928, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2928, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2928, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2928, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 19533, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 19533, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 273451, + "frequency": 2799.96, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..6ca31a37ead18ac35f20e4563eb0d8fb7b26fdde --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 79247324928 + starting_time: + nanoseconds_since_epoch: 1761632781498271488 + message_count: 345518 + 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: 221901 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15850 + - 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: "" + message_count: 2375 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2375 + - topic_metadata: + name: /camera_f/color/metadata + 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: "" + message_count: 15850 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2376 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15850 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15850 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2375 + - topic_metadata: + name: /puppet/joint_right + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..9c25aaee41d60ee9b5ba30b6fbac47d33d57e53b --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_36_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 345518, + "start_time": "2025-10-28T14:26:21.498271488+08:00", + "start_timestamp": 1761632781.4982715, + "end_time": "2025-10-28T14:27:40.745596416+08:00", + "end_timestamp": 1761632860.7455964, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 15850, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15850, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15850, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15850, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2376, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2376, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2376, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2376, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2376, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2376, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2375, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2375, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2376, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2376, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2375, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2375, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15850, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15850, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 221901, + "frequency": 2800.11, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..fa2c70360e67ea3373def0fd44f5950761bb29de --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + name: /camera_fl/color/metadata + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..e792a3ef96dc32d24bb8c6eb8bd394ee06d1ef7f --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_4/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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": [ + { + "topic": "/master/joint_left", + "count": 15645, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15644, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15645, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15644, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2345, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2346, + "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", + "count": 2344, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "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", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2345, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2345, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2345, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2345, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2345, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2345, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15645, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15644, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 219030, + "frequency": 2800.04, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..ad572ccf9e6c8f7a8e399229fc96bf680cb98505 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..761bfe3d18a5ad4228474dce6b063d6d6de1176f --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_6_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 435334, + "start_time": "2025-10-28T10:18:34.288656896+08:00", + "start_timestamp": 1761617914.288657, + "end_time": "2025-10-28T10:20:14.138107904+08:00", + "end_timestamp": 1761618014.138108, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 19970, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 19970, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 19970, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 19970, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2992, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2993, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2992, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2993, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2994, + "frequency": 29.99, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2994, + "frequency": 29.99, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2993, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2993, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2994, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2994, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2993, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2993, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 19970, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 19970, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 279587, + "frequency": 2800.09, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..debddb66be748a307e525fb7994b08a69170befe --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 265912 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18994 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18994 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2847 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2847 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2847 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2847 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18994 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2847 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18994 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18994 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2847 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..9790a8c509459a581851b3cf86b769930626ae7a --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_65_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 414050, + "start_time": "2025-10-28T15:08:51.67938816+08:00", + "start_timestamp": 1761635331.679388, + "end_time": "2025-10-28T15:10:26.646892032+08:00", + "end_timestamp": 1761635426.646892, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 18994, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 18994, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 18994, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 18994, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2848, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2847, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2847, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2847, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2847, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2847, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 18994, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 18994, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 265912, + "frequency": 2800.03, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..74e2abaf3f33b72320c52af96e3a281ff72d2def --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 72903604480 + starting_time: + nanoseconds_since_epoch: 1761635925199595264 + message_count: 317856 + 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: 204135 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14581 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14581 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2186 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2185 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2186 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2185 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14581 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2186 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14581 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14581 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2186 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14581 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + 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: + name: /camera_r/color/image_raw + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..055fb101f7a885d37a6cb06dabfb2cb5cbc28725 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_70_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 317856, + "start_time": "2025-10-28T15:18:45.199595264+08:00", + "start_timestamp": 1761635925.1995952, + "end_time": "2025-10-28T15:19:58.103199744+08:00", + "end_timestamp": 1761635998.1031997, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14581, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14581, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14581, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14581, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2187, + "frequency": 30.0, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2185, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2185, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2185, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2185, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2186, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2186, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2185, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2185, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2186, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2186, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2185, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14581, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14581, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 204135, + "frequency": 2800.07, + "type": "tf2_msgs/msg/TFMessage", + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..1566fc692755faaa2620a95d7dac48fcf1c2c4cc --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: "" + message_count: 202562 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + 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: "" + message_count: 2168 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2168 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2169 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2168 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14469 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2169 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14469 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14469 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2168 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..63fc52d142d7dd9dea803b0e0c4dac9667be68dc --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_73_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 315407, + "start_time": "2025-10-28T15:52:25.946634752+08:00", + "start_timestamp": 1761637945.9466348, + "end_time": "2025-10-28T15:53:38.290512128+08:00", + "end_timestamp": 1761638018.290512, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14469, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14469, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14469, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14469, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2168, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2168, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2169, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2169, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2169, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2169, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2168, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2168, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2169, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2169, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2168, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2168, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14469, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14469, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 202562, + "frequency": 2799.99, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..88bd7eaea2d20986d3ec055dd6a1e00e19955832 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 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: "" + message_count: 2040 + - topic_metadata: + name: /camera_f/color/metadata + 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 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2040 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + 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: + name: /camera_r/color/camera_info + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..29360419cff8045f7966d2ec6dc1ef5d42bd2e4a --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_8_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 296653, + "start_time": "2025-10-28T10:21:53.159284736+08:00", + "start_timestamp": 1761618113.1592848, + "end_time": "2025-10-28T10:23:01.200723968+08:00", + "end_timestamp": 1761618181.200724, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 13608, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 13608, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 13608, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 13608, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2040, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2039, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2040, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2039, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2040, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2040, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2040, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2040, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2040, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2040, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2040, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2040, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 13608, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 13608, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 190518, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..67ae01e733dd8a0c53c2e6f9b881b2b7832224bb --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_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: + - 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: 215957 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15425 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15425 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2312 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2312 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2312 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2311 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15425 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2312 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15425 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15425 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2312 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15425 + - topic_metadata: + name: /camera_l/color/metadata + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..af5b15f51c0fbcec77bf8d9a68a1c8acf5e2b17d --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9/\345\217\240\345\245\266\347\231\275\350\211\262\346\257\233\345\267\276_9_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 336259, + "start_time": "2025-10-28T10:40:24.514095872+08:00", + "start_timestamp": 1761619224.5140958, + "end_time": "2025-10-28T10:41:41.64167168+08:00", + "end_timestamp": 1761619301.6416717, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 15425, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15425, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15425, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15425, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2311, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2312, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2312, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2312, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2312, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2312, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15425, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15425, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 215957, + "frequency": 2800.0, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.12, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..a6c41969ff9114e6999bd280a181187b0904f45a --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 107090944256 + starting_time: + nanoseconds_since_epoch: 1761622588095319808 + message_count: 466874 + 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: 299831 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21418 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21418 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3211 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3210 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3211 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3210 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21418 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3211 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21418 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21418 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3211 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21418 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3210 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..03dc6f752208da385dcc3e3922732f3319fbbdda --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_12_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 466874, + "start_time": "2025-10-28T11:36:28.095319808+08:00", + "start_timestamp": 1761622588.0953197, + "end_time": "2025-10-28T11:38:15.186264064+08:00", + "end_timestamp": 1761622695.186264, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 21418, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 21418, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 21418, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 21418, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 3211, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 3210, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 3211, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 3210, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 3210, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 3211, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 3211, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 3210, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 3210, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 3211, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 3211, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 3210, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 21418, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 21418, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..5632e4982287c16fa930020b05975a3440dbadec --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_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: + name: /tf + 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: "" + message_count: 2998 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2998 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2998 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + 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: "" + message_count: 2998 + - 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 + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20001 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..56e38d652651c0b3545cebf1a14ee5d798f139b6 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_13_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 436001, + "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": [ + { + "topic": "/master/joint_left", + "count": 20001, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 20001, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 20001, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 20001, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2998, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2998, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2998, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2998, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2998, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 20001, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 20001, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 280010, + "frequency": 2799.99, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..5d5b5e9ca9d0a2804245fe289b8fdf63a404c7c1 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 71269568256 + starting_time: + nanoseconds_since_epoch: 1761642248934216960 + message_count: 310706 + 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: 199534 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14254 + - 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: "" + message_count: 2137 + - topic_metadata: + name: /camera_f/color/metadata + 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: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2136 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14254 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14254 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..2ae40b5143f9259ba491f3b3cb3ccb0fdcb7ba92 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_136_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 310706, + "start_time": "2025-10-28T17:04:08.93421696+08:00", + "start_timestamp": 1761642248.934217, + "end_time": "2025-10-28T17:05:20.203785216+08:00", + "end_timestamp": 1761642320.2037852, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14254, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14254, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14254, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14254, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2136, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2137, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2137, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2137, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2137, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2136, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2136, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2137, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2137, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2136, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2136, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2137, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14254, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14254, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 199534, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..04ce942a7bba4fdf4c30c23ff73ad074a5e51938 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 84151510784 + starting_time: + nanoseconds_since_epoch: 1761716544839330816 + message_count: 322058 + 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: 190793 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16830 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16830 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16830 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16830 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16830 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16830 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2523 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..7926db7572161fb01fdd36469c4d3ebf15cc9cdc --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_293_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 322058, + "start_time": "2025-10-29T13:42:24.839330816+08:00", + "start_timestamp": 1761716544.839331, + "end_time": "2025-10-29T13:43:48.9908416+08:00", + "end_timestamp": 1761716628.9908416, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 16830, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 16830, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 16830, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 16830, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2523, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2523, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2523, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2523, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2523, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 16830, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 16830, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 190793, + "frequency": 2267.26, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.11, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..3169d73cc5c9c73c9e060e991f46ada19a35b6af --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 71351486208 + starting_time: + nanoseconds_since_epoch: 1761631360157109504 + message_count: 311086 + 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: 199783 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14271 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14271 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2138 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14271 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14271 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14271 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14271 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2139 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2140 + - topic_metadata: + name: /camera_fl/color/image_raw + 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 + serialization_format: cdr + 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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..6360bfd7d210485a39bf9093bb73c0807df8664c --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_41_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 311086, + "start_time": "2025-10-28T14:02:40.157109504+08:00", + "start_timestamp": 1761631360.1571095, + "end_time": "2025-10-28T14:03:51.508595712+08:00", + "end_timestamp": 1761631431.5085957, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14271, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14271, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14271, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14271, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2139, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2138, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2140, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2139, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2139, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2139, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2139, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2139, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2139, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2139, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2139, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2139, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14271, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14271, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 199783, + "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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..5abb180f433612bce036d56e96b49fdb38e04741 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_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 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..d266d8b2d8bd0f063a58a46b18eca570cfc6e606 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_48/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..f7edbd426067cca9b5a0fb97a1b26afd7e765b1f --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 105772408832 + starting_time: + nanoseconds_since_epoch: 1761621235190419712 + message_count: 461159 + 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: 296170 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21155 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21154 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21155 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21154 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21154 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 21155 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3172 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3171 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠粉色毛巾_6_0.mcap + files: + - path: 叠粉色毛巾_6_0.mcap + starting_time: + nanoseconds_since_epoch: 1761621235190419712 + duration: + nanoseconds: 105772408832 + message_count: 461159 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..806ef6089cc65ff3ce02af7e0d98b246081a9417 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_6_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 461159, + "start_time": "2025-10-28T11:13:55.190419712+08:00", + "start_timestamp": 1761621235.1904197, + "end_time": "2025-10-28T11:15:40.962828544+08:00", + "end_timestamp": 1761621340.9628286, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 21154, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 21155, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 21154, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 21155, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 3172, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 3171, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 3171, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 3171, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 3171, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 3171, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 21154, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 21155, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 296170, + "frequency": 2800.07, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.09, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 6, + "task_id": "1982678484242391042", + "task_name": "叠粉色毛巾", + "file_name": "叠粉色毛巾_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..27fd13c140f7bc4eb949cb6b393936045d55632a --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 83973332224 + starting_time: + nanoseconds_since_epoch: 1761637719312125952 + message_count: 366116 + 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: 235128 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16795 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16795 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2518 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16795 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2518 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16795 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16795 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16795 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2518 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2518 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2518 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2517 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠粉色毛巾_94_0.mcap + files: + - path: 叠粉色毛巾_94_0.mcap + starting_time: + nanoseconds_since_epoch: 1761637719312125952 + duration: + nanoseconds: 83973332224 + message_count: 366116 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..d1c2ac2f7d5e029c244d0a229def176a027de66d --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_94_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 366116, + "start_time": "2025-10-28T15:48:39.312125952+08:00", + "start_timestamp": 1761637719.312126, + "end_time": "2025-10-28T15:50:03.285458176+08:00", + "end_timestamp": 1761637803.285458, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 16795, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 16795, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 16795, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 16795, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2518, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2517, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2518, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2518, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2517, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2518, + "frequency": 29.99, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2517, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2517, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2517, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2518, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2517, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2517, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 16795, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 16795, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 235128, + "frequency": 2800.03, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.11, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 94, + "task_id": "1982678484242391042", + "task_name": "叠粉色毛巾", + "file_name": "叠粉色毛巾_94_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..7132a36f0b6534c22ab0d4a73ccab103514f6017 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 74657153792 + starting_time: + nanoseconds_since_epoch: 1761637818021214464 + message_count: 325506 + 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: 209050 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14932 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14932 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14932 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14932 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14932 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14932 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2237 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠粉色毛巾_95_0.mcap + files: + - path: 叠粉色毛巾_95_0.mcap + starting_time: + nanoseconds_since_epoch: 1761637818021214464 + duration: + nanoseconds: 74657153792 + message_count: 325506 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..e7ad99b2cabfdd37f72042b497f7caf00c43910a --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_95_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 325506, + "start_time": "2025-10-28T15:50:18.021214464+08:00", + "start_timestamp": 1761637818.0212145, + "end_time": "2025-10-28T15:51:32.678368256+08:00", + "end_timestamp": 1761637892.6783683, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14932, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14932, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14932, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14932, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2237, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14932, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14932, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 209050, + "frequency": 2800.13, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.12, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 95, + "task_id": "1982678484242391042", + "task_name": "叠粉色毛巾", + "file_name": "叠粉色毛巾_95_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..5bbc5b2a17b5114ffb63abe89318db4b3a7c1b2b --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 74652687104 + starting_time: + nanoseconds_since_epoch: 1761637987754305280 + message_count: 325461 + 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: 209019 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14929 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14930 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14929 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14930 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14930 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14929 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2238 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠粉色毛巾_97_0.mcap + files: + - path: 叠粉色毛巾_97_0.mcap + starting_time: + nanoseconds_since_epoch: 1761637987754305280 + duration: + nanoseconds: 74652687104 + message_count: 325461 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..06a163422a461447c44c9193763b3236a5575b46 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels1/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97/\345\217\240\347\262\211\350\211\262\346\257\233\345\267\276_97_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 325461, + "start_time": "2025-10-28T15:53:07.75430528+08:00", + "start_timestamp": 1761637987.7543054, + "end_time": "2025-10-28T15:54:22.406992384+08:00", + "end_timestamp": 1761638062.4069924, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14930, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14929, + "frequency": 199.98, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14930, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14929, + "frequency": 199.98, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2238, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2238, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14930, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14929, + "frequency": 199.98, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 209019, + "frequency": 2799.89, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.12, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 97, + "task_id": "1982678484242391042", + "task_name": "叠粉色毛巾", + "file_name": "叠粉色毛巾_97_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..b605a0ce016f83a19accf7c6abeef53561065fea --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 104060358400 + starting_time: + nanoseconds_since_epoch: 1761615660951816704 + message_count: 422455 + 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: 260141 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20812 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20812 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3119 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3119 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3117 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20812 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20812 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20812 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3119 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 20812 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3120 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 3119 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_1_0.mcap + files: + - path: 叠蓝色毛巾_1_0.mcap + starting_time: + nanoseconds_since_epoch: 1761615660951816704 + duration: + nanoseconds: 104060358400 + message_count: 422455 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..c38ce1e0ce28d0c1f8d6bcacce3893cd336de5ff --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_1_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 422455, + "start_time": "2025-10-28T09:41:00.951816704+08:00", + "start_timestamp": 1761615660.9518168, + "end_time": "2025-10-28T09:42:45.012175104+08:00", + "end_timestamp": 1761615765.012175, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 20812, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 20812, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 20812, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 20812, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 3120, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 3117, + "frequency": 29.95, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 3120, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 3120, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 3120, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 3120, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 3119, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 3119, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 3120, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 3120, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 3119, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 3119, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 20812, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 20812, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 260141, + "frequency": 2499.9, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.09, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 1, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..339f3076c012349c9d84f155d9f312e982c46aab --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 71502853632 + starting_time: + nanoseconds_since_epoch: 1761617513680598272 + message_count: 282411 + 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: 170882 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14300 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14300 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2144 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2144 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14300 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14300 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14300 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2144 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14300 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2143 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2144 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_17_0.mcap + files: + - path: 叠蓝色毛巾_17_0.mcap + starting_time: + nanoseconds_since_epoch: 1761617513680598272 + duration: + nanoseconds: 71502853632 + message_count: 282411 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..5397d3d908c8db83154364b7ed60373b86f0d4b4 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_17_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 282411, + "start_time": "2025-10-28T10:11:53.680598272+08:00", + "start_timestamp": 1761617513.6805983, + "end_time": "2025-10-28T10:13:05.183451904+08:00", + "end_timestamp": 1761617585.183452, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14300, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14300, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14300, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14300, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2143, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2143, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2143, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2143, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2143, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2143, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2144, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2144, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2143, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2143, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2144, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2144, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14300, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14300, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 170882, + "frequency": 2389.86, + "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": 17, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_17_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..b7d8239f8106775effac9bb0a2c68d03f3a8eb9d --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 78538399232 + starting_time: + nanoseconds_since_epoch: 1761615770023823872 + message_count: 314302 + 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: 191793 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15708 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15708 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2355 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15708 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15708 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15708 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15708 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2354 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2355 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2355 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2355 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_2_0.mcap + files: + - path: 叠蓝色毛巾_2_0.mcap + starting_time: + nanoseconds_since_epoch: 1761615770023823872 + duration: + nanoseconds: 78538399232 + message_count: 314302 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..15d9c7fea0808c95b339dc1a0f04d350676beeba --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_2_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 314302, + "start_time": "2025-10-28T09:42:50.023823872+08:00", + "start_timestamp": 1761615770.023824, + "end_time": "2025-10-28T09:44:08.562223104+08:00", + "end_timestamp": 1761615848.5622232, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 15708, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15708, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15708, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15708, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2354, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2354, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2355, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2355, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2354, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2354, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2354, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2355, + "frequency": 29.99, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2354, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2354, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2354, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2355, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15708, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15708, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 191793, + "frequency": 2442.03, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.11, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 2, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_2_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..ba9f2da278c24e2ebceaf813cc20f8aa8fd75574 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 70090530304 + starting_time: + nanoseconds_since_epoch: 1761617838942067456 + message_count: 274115 + 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: 164786 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14018 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14018 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14018 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14018 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14018 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14018 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2102 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2100 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2101 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_21_0.mcap + files: + - path: 叠蓝色毛巾_21_0.mcap + starting_time: + nanoseconds_since_epoch: 1761617838942067456 + duration: + nanoseconds: 70090530304 + message_count: 274115 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..9031181dd7d9eac7915f97d3d75de18c698a4f13 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_21_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 274115, + "start_time": "2025-10-28T10:17:18.942067456+08:00", + "start_timestamp": 1761617838.9420674, + "end_time": "2025-10-28T10:18:29.03259776+08:00", + "end_timestamp": 1761617909.0325978, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14018, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14018, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14018, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14018, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2100, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2101, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2102, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2101, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2101, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2101, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14018, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14018, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 164786, + "frequency": 2351.05, + "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": 21, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..194bf149555543ee13732b45ae914366ce09da51 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 90072315136 + starting_time: + nanoseconds_since_epoch: 1761619429543545600 + message_count: 353305 + 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: 212818 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18015 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18015 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18015 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18015 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18015 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 18015 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2699 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_28_0.mcap + files: + - path: 叠蓝色毛巾_28_0.mcap + starting_time: + nanoseconds_since_epoch: 1761619429543545600 + duration: + nanoseconds: 90072315136 + message_count: 353305 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..8403a837404febc862f286337b1ae37665c592b5 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_28_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 353305, + "start_time": "2025-10-28T10:43:49.5435456+08:00", + "start_timestamp": 1761619429.5435455, + "end_time": "2025-10-28T10:45:19.615860736+08:00", + "end_timestamp": 1761619519.6158607, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 18015, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 18015, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 18015, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 18015, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2699, + "frequency": 29.96, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2699, + "frequency": 29.96, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2699, + "frequency": 29.96, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2699, + "frequency": 29.96, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2699, + "frequency": 29.96, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 18015, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 18015, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 212818, + "frequency": 2362.75, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.1, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 28, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..688c76c719b35f41affd34b5ea505a561fda799f --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 98493911552 + starting_time: + nanoseconds_since_epoch: 1761615851211619328 + message_count: 393338 + 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: 239710 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19698 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19699 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2953 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2953 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2952 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2950 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19698 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2952 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19699 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19699 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2953 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 19698 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2952 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2952 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2952 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2953 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2953 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2953 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_3_0.mcap + files: + - path: 叠蓝色毛巾_3_0.mcap + starting_time: + nanoseconds_since_epoch: 1761615851211619328 + duration: + nanoseconds: 98493911552 + message_count: 393338 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..83159e814eb55d44f2acbcdd9de26fbf09b5cdc1 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_3_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 393338, + "start_time": "2025-10-28T09:44:11.211619328+08:00", + "start_timestamp": 1761615851.2116194, + "end_time": "2025-10-28T09:45:49.70553088+08:00", + "end_timestamp": 1761615949.705531, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 19699, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 19698, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 19699, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 19698, + "frequency": 199.99, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2952, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2950, + "frequency": 29.95, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2953, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2953, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2952, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2952, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2953, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2953, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2952, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2952, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2953, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2953, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 19699, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 19698, + "frequency": 199.99, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 239710, + "frequency": 2433.75, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.09, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 3, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..5f8faa97431218910e3182f630426146774cd716 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 83166048768 + starting_time: + nanoseconds_since_epoch: 1761616076112833280 + message_count: 329801 + 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: 200079 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16633 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16633 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2494 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2491 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16633 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16633 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16633 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 16633 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2492 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2493 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2494 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_5_0.mcap + files: + - path: 叠蓝色毛巾_5_0.mcap + starting_time: + nanoseconds_since_epoch: 1761616076112833280 + duration: + nanoseconds: 83166048768 + message_count: 329801 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..75b8abaac3ca33f1da5881e1212ab6f9e90b066d --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_5_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 329801, + "start_time": "2025-10-28T09:47:56.11283328+08:00", + "start_timestamp": 1761616076.1128333, + "end_time": "2025-10-28T09:49:19.278882048+08:00", + "end_timestamp": 1761616159.278882, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 16633, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 16633, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 16633, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 16633, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2492, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2491, + "frequency": 29.95, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2493, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2493, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2493, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2493, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2493, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2494, + "frequency": 29.99, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2493, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2493, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2493, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2494, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 16633, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 16633, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 200079, + "frequency": 2405.78, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.11, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 5, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_5_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..690bcdf7b214c85a1a7c217edc3a512b41ffb697 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 76780679680 + starting_time: + nanoseconds_since_epoch: 1761623556356229120 + message_count: 294649 + 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: 174890 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15357 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15356 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2302 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2302 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15356 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2302 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15356 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15356 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15356 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2300 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2300 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2301 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_54_0.mcap + files: + - path: 叠蓝色毛巾_54_0.mcap + starting_time: + nanoseconds_since_epoch: 1761623556356229120 + duration: + nanoseconds: 76780679680 + message_count: 294649 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..353d865e20b86cd43c4e0020928e77e5d7813f24 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_54_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 294649, + "start_time": "2025-10-28T11:52:36.35622912+08:00", + "start_timestamp": 1761623556.356229, + "end_time": "2025-10-28T11:53:53.1369088+08:00", + "end_timestamp": 1761623633.1369088, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 15356, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15356, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15356, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15356, + "frequency": 200.0, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2301, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2302, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2301, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2301, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2300, + "frequency": 29.96, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2302, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2301, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2301, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2300, + "frequency": 29.96, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2302, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2301, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2301, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15356, + "frequency": 200.0, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15357, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 174890, + "frequency": 2277.79, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.12, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 54, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_54_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..2c4bf680519f27e88811df84fbfd3f9815501f5c --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 74427683328 + starting_time: + nanoseconds_since_epoch: 1761641404912576256 + message_count: 324503 + 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: 208403 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14886 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14886 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14886 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14886 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14886 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14886 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2232 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2232 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2232 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2231 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_65_0.mcap + files: + - path: 叠蓝色毛巾_65_0.mcap + starting_time: + nanoseconds_since_epoch: 1761641404912576256 + duration: + nanoseconds: 74427683328 + message_count: 324503 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..2735bf995682882e057f58d8ecc65cd215f6719f --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_65_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 324503, + "start_time": "2025-10-28T16:50:04.912576256+08:00", + "start_timestamp": 1761641404.9125762, + "end_time": "2025-10-28T16:51:19.340259584+08:00", + "end_timestamp": 1761641479.3402596, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14886, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14886, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14886, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14886, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2232, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2231, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2232, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2232, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2231, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2231, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2231, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2231, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2231, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2231, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2231, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2231, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14886, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14886, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 208403, + "frequency": 2800.07, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.12, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 65, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..e4ba2a3168e531fe9857ef39dc80fac1bbec5d2b --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 73696401664 + starting_time: + nanoseconds_since_epoch: 1761641693177523712 + message_count: 321308 + 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: 206348 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14740 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14740 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2210 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14740 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14740 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14740 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2210 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 14740 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2210 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2209 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_69_0.mcap + files: + - path: 叠蓝色毛巾_69_0.mcap + starting_time: + nanoseconds_since_epoch: 1761641693177523712 + duration: + nanoseconds: 73696401664 + message_count: 321308 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..b9ddf52c8da83e283779025f99b0eb93a21de2c4 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_69_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 321308, + "start_time": "2025-10-28T16:54:53.177523712+08:00", + "start_timestamp": 1761641693.1775236, + "end_time": "2025-10-28T16:56:06.873925376+08:00", + "end_timestamp": 1761641766.8739254, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 14740, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 14740, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 14740, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 14740, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2210, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2209, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2209, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2209, + "frequency": 29.97, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2209, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2209, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2210, + "frequency": 29.99, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2209, + "frequency": 29.97, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2209, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2209, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2210, + "frequency": 29.99, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2209, + "frequency": 29.97, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 14740, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 14740, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 206348, + "frequency": 2799.97, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf_static", + "count": 9, + "frequency": 0.12, + "type": "tf2_msgs/msg/TFMessage", + "serialization_format": "ros2msg" + } + ] + }, + "task_info": { + "episode": 69, + "task_id": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_69_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" + } +} \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70/metadata.yaml" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70/metadata.yaml" new file mode 100644 index 0000000000000000000000000000000000000000..3daea3b42e81100f98d4b33fbf8bd3aa90c17f64 --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70/metadata.yaml" @@ -0,0 +1,140 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: mcap + duration: + nanoseconds: 75022958080 + starting_time: + nanoseconds_since_epoch: 1761641790618069504 + message_count: 327097 + 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: 210070 + - topic_metadata: + name: /puppet/end_pose_right + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15005 + - topic_metadata: + name: /puppet/end_pose_left + type: geometry_msgs/msg/PoseStamped + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15005 + - topic_metadata: + name: /camera_r/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_fl/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_f/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_f/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2250 + - topic_metadata: + name: /master/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15005 + - topic_metadata: + name: /camera_f/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /puppet/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15005 + - topic_metadata: + name: /master/joint_left + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15005 + - topic_metadata: + name: /camera_r/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /puppet/joint_right + type: sensor_msgs/msg/JointState + serialization_format: cdr + offered_qos_profiles: "" + message_count: 15005 + - topic_metadata: + name: /camera_l/color/metadata + type: realsense2_camera_msgs/msg/Metadata + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_l/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_l/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2248 + - topic_metadata: + name: /camera_r/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_fl/color/image_raw + type: sensor_msgs/msg/CompressedImage + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + - topic_metadata: + name: /camera_fl/color/camera_info + type: sensor_msgs/msg/CameraInfo + serialization_format: cdr + offered_qos_profiles: "" + message_count: 2249 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 叠蓝色毛巾_70_0.mcap + files: + - path: 叠蓝色毛巾_70_0.mcap + starting_time: + nanoseconds_since_epoch: 1761641790618069504 + duration: + nanoseconds: 75022958080 + message_count: 327097 \ No newline at end of file diff --git "a/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70_0_info.json" "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70_0_info.json" new file mode 100644 index 0000000000000000000000000000000000000000..ef454bfd585b54e5ae0ae0ca2cc0d53fa44cdd0e --- /dev/null +++ "b/collections/disk-1_fold_towels_longest100_20260731/episodes/fold_towels2/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70/\345\217\240\350\223\235\350\211\262\346\257\233\345\267\276_70_0_info.json" @@ -0,0 +1,163 @@ +{ + "data_info": { + "library": "libmcap 0.8.0", + "profile": "ros2", + "messages": 327097, + "start_time": "2025-10-28T16:56:30.618069504+08:00", + "start_timestamp": 1761641790.6180694, + "end_time": "2025-10-28T16:57:45.641027584+08:00", + "end_timestamp": 1761641865.6410277, + "channels": 20, + "attachments": 0, + "metadata": 1, + "topics": [ + { + "topic": "/master/joint_left", + "count": 15005, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/master/joint_right", + "count": 15005, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_left", + "count": 15005, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/joint_right", + "count": 15005, + "frequency": 200.01, + "type": "sensor_msgs/msg/JointState", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/image_raw", + "count": 2248, + "frequency": 29.96, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/image_raw", + "count": 2250, + "frequency": 29.99, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/image_raw", + "count": 2249, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/image_raw", + "count": 2249, + "frequency": 29.98, + "type": "sensor_msgs/msg/CompressedImage", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/camera_info", + "count": 2249, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/camera_info", + "count": 2249, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/camera_info", + "count": 2249, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/camera_info", + "count": 2249, + "frequency": 29.98, + "type": "sensor_msgs/msg/CameraInfo", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_l/color/metadata", + "count": 2249, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_f/color/metadata", + "count": 2249, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_r/color/metadata", + "count": 2249, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/camera_fl/color/metadata", + "count": 2249, + "frequency": 29.98, + "type": "realsense2_camera_msgs/msg/Metadata", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_left", + "count": 15005, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/puppet/end_pose_right", + "count": 15005, + "frequency": 200.01, + "type": "geometry_msgs/msg/PoseStamped", + "serialization_format": "ros2msg" + }, + { + "topic": "/tf", + "count": 210070, + "frequency": 2800.08, + "type": "tf2_msgs/msg/TFMessage", + "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": "1982678764191211522", + "task_name": "叠蓝色毛巾", + "file_name": "叠蓝色毛巾_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" + } +} \ No newline at end of file