---
license: cc-by-nc-4.0
pretty_name: Lidar-Tactile — Raw ROS 2 MCAP
tags:
  - robotics
  - tactile
  - humanoid
  - manipulation
  - ros2
  - mcap
---

# Lidar-Tactile — Raw ROS 2 MCAP recordings

Raw `rosbag2` MCAP recordings from a Unitree G1 humanoid performing **bimanual tactile
loco-manipulation** with ViTac/sensx force sensors. These are the *unprocessed* bags;
the segmented training zarrs derived from them live in
[`GeorgiaTech/ik-modulation-zarr`](https://huggingface.co/datasets/GeorgiaTech/ik-modulation-zarr).

## Layout

```
mcap/<task>/<stream>/<run>/<traj>/*.mcap   (+ metadata.yaml per bag)
```

### `mcap/bucket/` — bucket manipulation task (2026-05)
| Stream | Path | Count |
|--------|------|-------|
| Teleop | `mcap/bucket/teleop/2026-05-09-17-08-12/{001..056}/` | 56 trajectories |
| Human  | `mcap/bucket/human/{003..020}/`                      | 15 trajectories |

- **Teleop**: operator drives the robot; bags contain the commanded **IK target**
  (`/g1_upper_pink_controller/{left,right}_hand`), the measured EE
  (`/tf_server_{left,right}/pose_measured`), IK metrics, and tactile force/raw.
- **Human**: human demonstration; measured hand poses + tactile force/raw.

### Key topics
| Quantity | Topic |
|----------|-------|
| Measured EE (teleop) | `/tf_server_{left,right}/pose_measured` |
| IK target (teleop)   | `/g1_upper_pink_controller/{left,right}_hand` |
| Tactile force        | `/sensor1/sensor1/force` (**left**), `/sensor2/sensor2/force` (**right**), `/chest_sensor/...` |
| Tactile raw          | `/sensor{1,2}/.../raw`, `/chest_sensor/.../raw` |

> Sensor mapping: **sensor1 = left hand, sensor2 = right hand**.

## Reading a bag

```python
from mcap_ros2.decoder import DecoderFactory
from mcap.reader import make_reader
with open("mcap/bucket/teleop/2026-05-09-17-08-12/001/001_0.mcap", "rb") as f:
    reader = make_reader(f, decoder_factories=[DecoderFactory()])
    for schema, channel, message, ros_msg in reader.iter_decoded_messages():
        ...  # channel.topic, ros_msg fields
```

See the conversion pipeline writeup (`ik_modulation/configs/bucket_pipeline/BUCKET_PIPELINE.md`
in the `diffusion_humanoid_train` repo) for how these bags become segmented training zarrs.