diff --git a/2024-11-04-16-05-00/data/.zgroup b/2024-11-04-16-05-00/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/2024-11-04-16-05-00/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/2024-11-04-16-05-00/data/adis_imu.tar b/2024-11-04-16-05-00/data/adis_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..82b527e0b02497eb8a86246c2d5878fef3aa5315
--- /dev/null
+++ b/2024-11-04-16-05-00/data/adis_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0098ff30dd0d7b9b06de361be7a8f473ede9df008be86ce2cc5f31d418cb058c
+size 10618880
diff --git a/2024-11-04-16-05-00/data/alphasense_front_center.tar b/2024-11-04-16-05-00/data/alphasense_front_center.tar
new file mode 100644
index 0000000000000000000000000000000000000000..701e857737ad8bb36ffd0f184bdf7b39c8000752
--- /dev/null
+++ b/2024-11-04-16-05-00/data/alphasense_front_center.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0cc0b0fa80f941c7e938421cb58f3fd160ca54c04bdd76c0eb995ced845f616
+size 2191360
diff --git a/2024-11-04-16-05-00/data/alphasense_front_left.tar b/2024-11-04-16-05-00/data/alphasense_front_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..682668460b079ab1849257994de904dffac82b5d
--- /dev/null
+++ b/2024-11-04-16-05-00/data/alphasense_front_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895f06fbb5948b6baa4b92a30398ad789250935626f8bc601fc3f78a19c596b2
+size 2191360
diff --git a/2024-11-04-16-05-00/data/alphasense_front_right.tar b/2024-11-04-16-05-00/data/alphasense_front_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..84128cc32a7e3109f8e0a9f3efed2255d772b4a6
--- /dev/null
+++ b/2024-11-04-16-05-00/data/alphasense_front_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e086b91ae5b008a1b5ba4ac50aef2c16e3dfb7934cf149556d89067cfe292ac
+size 2191360
diff --git a/2024-11-04-16-05-00/data/alphasense_imu.tar b/2024-11-04-16-05-00/data/alphasense_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2aec67a3c631260e96b9b46cbc1fe1de5725b398
--- /dev/null
+++ b/2024-11-04-16-05-00/data/alphasense_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7301d3b3292f3665cb7fa8aa1b2b9874c20a64084ac8c775f2f885dcc7090b
+size 10762240
diff --git a/2024-11-04-16-05-00/data/alphasense_left.tar b/2024-11-04-16-05-00/data/alphasense_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..49fa5ee333a440b699ac81d48eef7282b1cb1091
--- /dev/null
+++ b/2024-11-04-16-05-00/data/alphasense_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02acbad9b7c3d067968173315045e815187dc4e7629f98b9d85476c773e10cb3
+size 2191360
diff --git a/2024-11-04-16-05-00/data/alphasense_right.tar b/2024-11-04-16-05-00/data/alphasense_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..33b7ec01785617364e6dcbca753b598871c042f8
--- /dev/null
+++ b/2024-11-04-16-05-00/data/alphasense_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbdb1a5b261a168c9a55d02f35fdab50c1921bc976c76f5c8421659f33dfb42
+size 2191360
diff --git a/2024-11-04-16-05-00/data/anymal_command_twist.tar b/2024-11-04-16-05-00/data/anymal_command_twist.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f210de635ee64c33f8511325859b4ab2179d9bef
--- /dev/null
+++ b/2024-11-04-16-05-00/data/anymal_command_twist.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3107854c602556698d5945bbf519b0fa2c1cb37ce386f5669838b9681a8236ea
+size 3880960
diff --git a/2024-11-04-16-05-00/data/anymal_imu.tar b/2024-11-04-16-05-00/data/anymal_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..3dd87f91b44f5b8a93465a030659ec3c71ace6a4
--- /dev/null
+++ b/2024-11-04-16-05-00/data/anymal_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1edef0f8b759aced7447448e08f6a9f8271b989d9ef6855069c97f62e595e6f7
+size 14755840
diff --git a/2024-11-04-16-05-00/data/anymal_state_actuator.tar b/2024-11-04-16-05-00/data/anymal_state_actuator.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4a65126402a35217443d56784eba4eda5ce9b7d0
--- /dev/null
+++ b/2024-11-04-16-05-00/data/anymal_state_actuator.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a3e2f54b1a592ab1953a21d8f6f3c993fb0301c90b126c84e1898b1d376f5d9
+size 347822080
diff --git a/2024-11-04-16-05-00/data/anymal_state_battery.tar b/2024-11-04-16-05-00/data/anymal_state_battery.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f8dfd83b4dd0cd30f2d4719ddef0ef31a42b6a84
--- /dev/null
+++ b/2024-11-04-16-05-00/data/anymal_state_battery.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d514a4d41454674427aeaec5114c4a461c873eeee17764cc74380a55761a704
+size 16435200
diff --git a/2024-11-04-16-05-00/data/anymal_state_odometry.tar b/2024-11-04-16-05-00/data/anymal_state_odometry.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f4a2c0637bcd66fb36c5e511a07c56911bd6474c
--- /dev/null
+++ b/2024-11-04-16-05-00/data/anymal_state_odometry.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1a48aa7e602cf14871e3a5889da8152698721f2b8149f0fb3c4eeb8559ab4b
+size 12072960
diff --git a/2024-11-04-16-05-00/data/anymal_state_state_estimator.tar b/2024-11-04-16-05-00/data/anymal_state_state_estimator.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d9c1522ec80969a4512c5add1750f88816ded37f
--- /dev/null
+++ b/2024-11-04-16-05-00/data/anymal_state_state_estimator.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20102739af2e0e4c47f7c9f000c8fbf7abc27b8e021248cad427e54068391cf
+size 114933760
diff --git a/2024-11-04-16-05-00/data/ap20_imu.tar b/2024-11-04-16-05-00/data/ap20_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7de81439b827efe440c469dd0bd350230e23594f
--- /dev/null
+++ b/2024-11-04-16-05-00/data/ap20_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25ad1de2c5640cdcadb5da3381a542062d3f989d07729ae34538e59d2837455a
+size 9062400
diff --git a/2024-11-04-16-05-00/data/cpt7_ie_rt_odometry.tar b/2024-11-04-16-05-00/data/cpt7_ie_rt_odometry.tar
new file mode 100644
index 0000000000000000000000000000000000000000..696fdb78e40b4304c579ff9cad771cb0eb512f11
--- /dev/null
+++ b/2024-11-04-16-05-00/data/cpt7_ie_rt_odometry.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd44f024bc1e308310a0773164f93c77b852a76f46a38a41e49684257c9e4d0e
+size 18749440
diff --git a/2024-11-04-16-05-00/data/cpt7_ie_rt_tf.tar b/2024-11-04-16-05-00/data/cpt7_ie_rt_tf.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2662cc37e3eb8c7c564ba8ab13d23f037381ff80
--- /dev/null
+++ b/2024-11-04-16-05-00/data/cpt7_ie_rt_tf.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac1fc0326e211afefb1040a610d84da58fc680a9d34f12ac6a980b2e9c15b6d
+size 8130560
diff --git a/2024-11-04-16-05-00/data/cpt7_ie_tc_odometry.tar b/2024-11-04-16-05-00/data/cpt7_ie_tc_odometry.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8c05bddba623f33e3c7df1209ebadd2b4d78dba9
--- /dev/null
+++ b/2024-11-04-16-05-00/data/cpt7_ie_tc_odometry.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e570b31f1356d34aaa7066466e6853e50cdc013ccc37c8eac0b1ad36f1eaf0ab
+size 12431360
diff --git a/2024-11-04-16-05-00/data/cpt7_ie_tc_tf.tar b/2024-11-04-16-05-00/data/cpt7_ie_tc_tf.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b9e6c48583ece5f1babdecb68e65db7420823d99
--- /dev/null
+++ b/2024-11-04-16-05-00/data/cpt7_ie_tc_tf.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09aee7da7856656779ebe859e3361ef735a5fb503a3e73226dbab08309b09e49
+size 5990400
diff --git a/2024-11-04-16-05-00/data/cpt7_imu.tar b/2024-11-04-16-05-00/data/cpt7_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..032d28bfb133d6dd1f72cf3199234bbcff7e06c6
--- /dev/null
+++ b/2024-11-04-16-05-00/data/cpt7_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccdd9b4ebcfdee912d8299b509c013b8650ac6ee24fc13d712651f24fb2cd188
+size 7976960
diff --git a/2024-11-04-16-05-00/data/depth_camera_front_lower.tar b/2024-11-04-16-05-00/data/depth_camera_front_lower.tar
new file mode 100644
index 0000000000000000000000000000000000000000..be274f3b7fe8fe1651ccdbed22dbaf70f2b75947
--- /dev/null
+++ b/2024-11-04-16-05-00/data/depth_camera_front_lower.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd276ccff71ad88470a02aab1d77c6ce05cbd202374f81a4197506771e716f4
+size 2201600
diff --git a/2024-11-04-16-05-00/data/depth_camera_front_upper.tar b/2024-11-04-16-05-00/data/depth_camera_front_upper.tar
new file mode 100644
index 0000000000000000000000000000000000000000..93e54a54e730d754cb9a3cadfe678843f598f240
--- /dev/null
+++ b/2024-11-04-16-05-00/data/depth_camera_front_upper.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f713e1450cfcbd1cb492763adbde2b54ddff4ff66c12f6091a741b162eff9f
+size 2201600
diff --git a/2024-11-04-16-05-00/data/depth_camera_left.tar b/2024-11-04-16-05-00/data/depth_camera_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..401b45086fbfbd50d31ccdca4d617b242638d7a8
--- /dev/null
+++ b/2024-11-04-16-05-00/data/depth_camera_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4ab90eed47d14956a7310b9f0e9893d606e85f5c7995e02f2f174489ce669d
+size 2201600
diff --git a/2024-11-04-16-05-00/data/depth_camera_rear_lower.tar b/2024-11-04-16-05-00/data/depth_camera_rear_lower.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7327ebe2637b7ee6f66f6ffe7cc8e7d02a4ffbbd
--- /dev/null
+++ b/2024-11-04-16-05-00/data/depth_camera_rear_lower.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db06bf7eb15e9d272640965585111023ab707291c25c058ce8ced9bdabff6f8c
+size 2201600
diff --git a/2024-11-04-16-05-00/data/depth_camera_rear_upper.tar b/2024-11-04-16-05-00/data/depth_camera_rear_upper.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2a1d8d9baae355a6b416aa70e49caabdef8ad99e
--- /dev/null
+++ b/2024-11-04-16-05-00/data/depth_camera_rear_upper.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76dc9989eb674ef93a4b66de910d6c1722c53e1ea912a1a55528cd40bce2646
+size 2201600
diff --git a/2024-11-04-16-05-00/data/depth_camera_right.tar b/2024-11-04-16-05-00/data/depth_camera_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1888df2de579ae2eb29cc6f17475608fe80d0aed
--- /dev/null
+++ b/2024-11-04-16-05-00/data/depth_camera_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3132ec7f195588bc0182fcc2fd9db50d7420c02169b487214356c528ca5e5c
+size 2201600
diff --git a/2024-11-04-16-05-00/data/dlio_hesai_points_undistorted.tar b/2024-11-04-16-05-00/data/dlio_hesai_points_undistorted.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1b46ae79aa0e386524f99d905e4ddddcb9361d5b
--- /dev/null
+++ b/2024-11-04-16-05-00/data/dlio_hesai_points_undistorted.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773c5db1eb609b037b07882ec197aa9cfaedae333ce984b1389992a82708d35b
+size 2632960000
diff --git a/2024-11-04-16-05-00/data/dlio_map_odometry.tar b/2024-11-04-16-05-00/data/dlio_map_odometry.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a221428d63e00b46644fa0d33374b33dc9fc04c3
--- /dev/null
+++ b/2024-11-04-16-05-00/data/dlio_map_odometry.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1185ead33077e353ba632877087826c7ce5e9da9d27cfe0fefd2613616290b
+size 7198720
diff --git a/2024-11-04-16-05-00/data/dlio_tf.tar b/2024-11-04-16-05-00/data/dlio_tf.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a4d4049664cec217f59de58b6762b79811aa10bf
--- /dev/null
+++ b/2024-11-04-16-05-00/data/dlio_tf.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5858fae76bbb929f64e4a47cf7739e058ea5f2102b93bf5490869bd7d476fa9
+size 5406720
diff --git a/2024-11-04-16-05-00/data/gnss_raw_cpt7_ie_rt.tar b/2024-11-04-16-05-00/data/gnss_raw_cpt7_ie_rt.tar
new file mode 100644
index 0000000000000000000000000000000000000000..75ab542872a6fb0eec2303ecd93af439e0487c7c
--- /dev/null
+++ b/2024-11-04-16-05-00/data/gnss_raw_cpt7_ie_rt.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc1bad94f4a03c8aa8c6db912bb2b60e75b6079c6c8100407e94967de30caaa
+size 9881600
diff --git a/2024-11-04-16-05-00/data/gnss_raw_cpt7_ie_tc.tar b/2024-11-04-16-05-00/data/gnss_raw_cpt7_ie_tc.tar
new file mode 100644
index 0000000000000000000000000000000000000000..0825ae8b43ca8cc9c9c6ed8503f2b33598495fe7
--- /dev/null
+++ b/2024-11-04-16-05-00/data/gnss_raw_cpt7_ie_tc.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a04f3026865fa08691b0996be1e6815f054f272e4bca0297df6578fc88dcb22
+size 7526400
diff --git a/2024-11-04-16-05-00/data/hdr_front.tar b/2024-11-04-16-05-00/data/hdr_front.tar
new file mode 100644
index 0000000000000000000000000000000000000000..240924b155fc5723cab9db49895c620ea3471cee
--- /dev/null
+++ b/2024-11-04-16-05-00/data/hdr_front.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b47212b597f71fc71ca59da84339606fdce6500920e4c3249b1df2bc84b988
+size 2191360
diff --git a/2024-11-04-16-05-00/data/hdr_left.tar b/2024-11-04-16-05-00/data/hdr_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e9a513ecde55e48fd2607cf26ec052a048cf0cde
--- /dev/null
+++ b/2024-11-04-16-05-00/data/hdr_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:061f587e51b2cc6f466377596fc5b2254f681810684314e98b9f36f71b6c29da
+size 2191360
diff --git a/2024-11-04-16-05-00/data/hdr_right.tar b/2024-11-04-16-05-00/data/hdr_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8b271b115ff90ae5fce599b24d1b6990a9098558
--- /dev/null
+++ b/2024-11-04-16-05-00/data/hdr_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351549309dbbb297739c074d460c723f93d850d4566afa96b73e51d02774c8ba
+size 2191360
diff --git a/2024-11-04-16-05-00/data/hesai_points.tar b/2024-11-04-16-05-00/data/hesai_points.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e4687fb970e972a8a3dc68a9a880e60ccc08789a
--- /dev/null
+++ b/2024-11-04-16-05-00/data/hesai_points.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1fe1170887666bdc5b7eb4508cb68e9a2406b7beba02ee9ac4e71128373017
+size 2657300480
diff --git a/2024-11-04-16-05-00/data/hesai_points_undistorted.tar b/2024-11-04-16-05-00/data/hesai_points_undistorted.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4e2082ee976b825025a65eb658e52f07566935c9
--- /dev/null
+++ b/2024-11-04-16-05-00/data/hesai_points_undistorted.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffcf2dfbef2579b6cb004b34ac7d6a58bcee738eb45d1115abb2bf834e8ac4f0
+size 2657986560
diff --git a/2024-11-04-16-05-00/data/livox_imu.tar b/2024-11-04-16-05-00/data/livox_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4c44f77027daaaa494a98576133ba7b029249367
--- /dev/null
+++ b/2024-11-04-16-05-00/data/livox_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f7cdd08cd0c7a1e698ef5bde10c26acc054b28268cbf5661edf01066717df88
+size 10035200
diff --git a/2024-11-04-16-05-00/data/livox_points.tar b/2024-11-04-16-05-00/data/livox_points.tar
new file mode 100644
index 0000000000000000000000000000000000000000..35348074c5031fd5f5f30c72a812b73c22bf02b8
--- /dev/null
+++ b/2024-11-04-16-05-00/data/livox_points.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544c449b312ecc111351a17ebaaf34fd7329b0c1c09893dd48b2fa3dd3cfcf34
+size 750356480
diff --git a/2024-11-04-16-05-00/data/livox_points_undistorted.tar b/2024-11-04-16-05-00/data/livox_points_undistorted.tar
new file mode 100644
index 0000000000000000000000000000000000000000..dc83a3075634fa5f25619e99f50691200cba1b79
--- /dev/null
+++ b/2024-11-04-16-05-00/data/livox_points_undistorted.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad1076d5c4ed8ae73fb01324e0e6fb8b9841a155ea8297df6d411beb47345d5
+size 750469120
diff --git a/2024-11-04-16-05-00/data/navsatfix_cpt7_ie_tc.tar b/2024-11-04-16-05-00/data/navsatfix_cpt7_ie_tc.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a70a1f8310f1e01e9a8e389c5d852af3548bfa3a
--- /dev/null
+++ b/2024-11-04-16-05-00/data/navsatfix_cpt7_ie_tc.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bfe05685a97d87c46df36a588c0bbee0b5aefebef6c6c3d30ae27d3bed413a1
+size 9840640
diff --git a/2024-11-04-16-05-00/data/prism_position.tar b/2024-11-04-16-05-00/data/prism_position.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e73f8966bb9a255df1da886a4f13ac7e7be9ca41
--- /dev/null
+++ b/2024-11-04-16-05-00/data/prism_position.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a907948e2dee904ecb910e7fd767b87c624c015e32486a76913f7ff99592e410
+size 3082240
diff --git a/2024-11-04-16-05-00/data/stim320_imu.tar b/2024-11-04-16-05-00/data/stim320_imu.tar
new file mode 100644
index 0000000000000000000000000000000000000000..3d1622f050670500048978b995dae04ef6261710
--- /dev/null
+++ b/2024-11-04-16-05-00/data/stim320_imu.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f946cca0be8562d5cf98a08f0bd17226f2158cb00200998e923eb96c81a23b1
+size 16312320
diff --git a/2024-11-04-16-05-00/data/tf.tar b/2024-11-04-16-05-00/data/tf.tar
new file mode 100644
index 0000000000000000000000000000000000000000..341e71cc01044d38340e8cd6a86edcb64af59b53
--- /dev/null
+++ b/2024-11-04-16-05-00/data/tf.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01bb4b72cac7995e632ac6e9c5e1303f80b10088693f41da7e5e59e28d061ffb
+size 20480
diff --git a/2024-11-04-16-05-00/data/velodyne_points.tar b/2024-11-04-16-05-00/data/velodyne_points.tar
new file mode 100644
index 0000000000000000000000000000000000000000..853fda045b01cda7186adf07cc877bd9f4ffb9a5
--- /dev/null
+++ b/2024-11-04-16-05-00/data/velodyne_points.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca995c3c7405029f76078e7f736a9894a4fae7e6ad32aa06b5ceb80268d10029
+size 1173514240
diff --git a/2024-11-04-16-05-00/data/velodyne_points_undistorted.tar b/2024-11-04-16-05-00/data/velodyne_points_undistorted.tar
new file mode 100644
index 0000000000000000000000000000000000000000..02b40a68bbcfbd95c6061f572d20bebf6e24a1c2
--- /dev/null
+++ b/2024-11-04-16-05-00/data/velodyne_points_undistorted.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88f81caac083c589ed1ebe5a95f89ebc39d37afec1cd9e700040234240cd05b5
+size 1174896640
diff --git a/2024-11-04-16-05-00/images/alphasense_front_center.tar b/2024-11-04-16-05-00/images/alphasense_front_center.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fa7eaca1b2548e5d664b5e675fd50b335c1acf78
--- /dev/null
+++ b/2024-11-04-16-05-00/images/alphasense_front_center.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd936048da16e6522587d7a7267bbe1f6e97f92a70893e48b4a277f0606368c5
+size 1338501120
diff --git a/2024-11-04-16-05-00/images/alphasense_front_left.tar b/2024-11-04-16-05-00/images/alphasense_front_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b1e41ac3e32e6742fca72c23ae55c76dce41a5df
--- /dev/null
+++ b/2024-11-04-16-05-00/images/alphasense_front_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c17463dd813f05de768f2db003e4c7c4c89c19b2f1c0c4a4bb8b8c952c908f6
+size 1252280320
diff --git a/2024-11-04-16-05-00/images/alphasense_front_right.tar b/2024-11-04-16-05-00/images/alphasense_front_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e87f6110152408612ff6815bcc8e941d40301e97
--- /dev/null
+++ b/2024-11-04-16-05-00/images/alphasense_front_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d14431aed62c0823d45974fa5a8dc7d23e8cc0059badb1eaa93f9592599ed5
+size 1512058880
diff --git a/2024-11-04-16-05-00/images/alphasense_left.tar b/2024-11-04-16-05-00/images/alphasense_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1c575ff965842cc00e4c95c4171b76fe6126a800
--- /dev/null
+++ b/2024-11-04-16-05-00/images/alphasense_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:968b816c07ed72ff7844ae385dcbf25000da76d999f84fd8fa3e31f9be2877cd
+size 1242480640
diff --git a/2024-11-04-16-05-00/images/alphasense_right.tar b/2024-11-04-16-05-00/images/alphasense_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..ff237e155b13dd88bb047ceedbe80652d2b20cd2
--- /dev/null
+++ b/2024-11-04-16-05-00/images/alphasense_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a1c10111c61cf133338c38caadfef068534a9bc12cb831507f8fec39008a1c0
+size 1288673280
diff --git a/2024-11-04-16-05-00/images/depth_camera_front_lower.tar b/2024-11-04-16-05-00/images/depth_camera_front_lower.tar
new file mode 100644
index 0000000000000000000000000000000000000000..494d49f0329eb2bc207e5897938735157c6e1093
--- /dev/null
+++ b/2024-11-04-16-05-00/images/depth_camera_front_lower.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f18ab8b5b41412a533b1ec4922cf48c652f9bc17a13b40c5248f3d24a501f55
+size 702382080
diff --git a/2024-11-04-16-05-00/images/depth_camera_front_upper.tar b/2024-11-04-16-05-00/images/depth_camera_front_upper.tar
new file mode 100644
index 0000000000000000000000000000000000000000..248f51636ab28cfc963ac4f21cfb690a2823a606
--- /dev/null
+++ b/2024-11-04-16-05-00/images/depth_camera_front_upper.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68193eb82d4cfd5d54bbd2337440ead1b4ff16109a3793da37846d9a4076ff06
+size 1028464640
diff --git a/2024-11-04-16-05-00/images/depth_camera_left.tar b/2024-11-04-16-05-00/images/depth_camera_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..bc040591fe8a34835105622d8f08d758ea158bf1
--- /dev/null
+++ b/2024-11-04-16-05-00/images/depth_camera_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c13758b99e4b1e255e022f3376579ca4720b10af2b94fd74a8b62ae777914b
+size 847851520
diff --git a/2024-11-04-16-05-00/images/depth_camera_rear_lower.tar b/2024-11-04-16-05-00/images/depth_camera_rear_lower.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a365d093107b468f0d6dba28372a39b543b43f46
--- /dev/null
+++ b/2024-11-04-16-05-00/images/depth_camera_rear_lower.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a728b1c46d28a101ab62eee55dc32be99272947698cc6edf40932784d53931
+size 688977920
diff --git a/2024-11-04-16-05-00/images/depth_camera_rear_upper.tar b/2024-11-04-16-05-00/images/depth_camera_rear_upper.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6df2669f190114002f4eae62db5128317079107a
--- /dev/null
+++ b/2024-11-04-16-05-00/images/depth_camera_rear_upper.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88be4ae9a95e716712c1465f3d75a41d0d1170fcb70d57ff7b690aa77e014563
+size 1110302720
diff --git a/2024-11-04-16-05-00/images/depth_camera_right.tar b/2024-11-04-16-05-00/images/depth_camera_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..910d3b85e72b62781efabdbe0c809302e94db2e5
--- /dev/null
+++ b/2024-11-04-16-05-00/images/depth_camera_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11c636d659f1d73162b8130d9a9020507b4f9df928d7b4d2594f6de39342ff4f
+size 878018560
diff --git a/2024-11-04-16-05-00/images/hdr_front.tar b/2024-11-04-16-05-00/images/hdr_front.tar
new file mode 100644
index 0000000000000000000000000000000000000000..88a87a9f91a070f3db8b52f7efac7263676c4a9d
--- /dev/null
+++ b/2024-11-04-16-05-00/images/hdr_front.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c93a371cc485b77e6786d3f4a3e2437a2a1f31202f510ddc3a53047a9b9b9e
+size 2041395200
diff --git a/2024-11-04-16-05-00/images/hdr_left.tar b/2024-11-04-16-05-00/images/hdr_left.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d8d39bda1cabe07fbe3b186fa6e1fc31e7d2f6d8
--- /dev/null
+++ b/2024-11-04-16-05-00/images/hdr_left.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8eb583591a60e0a377ef29549e4fbfe050443e10111655b720b1b53cf8d0a5e
+size 2310912000
diff --git a/2024-11-04-16-05-00/images/hdr_right.tar b/2024-11-04-16-05-00/images/hdr_right.tar
new file mode 100644
index 0000000000000000000000000000000000000000..ca653b072a9b9070bc9fae99befa10ab315bb1fc
--- /dev/null
+++ b/2024-11-04-16-05-00/images/hdr_right.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3950c1a311536418907f96259d6f8abc5201579fc533517a372d1e7c58ae971f
+size 2552279040
diff --git a/2024-11-04-16-05-00/metadata/adis_imu.yaml b/2024-11-04-16-05-00/metadata/adis_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..760ede863205c6321ef5fe2b33c0aa3b83c02f3c
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/adis_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: adis16475_imu
+topic: adis_imu
+transform:
+  base_frame_id: box_base
+  child_frame_id: adis16475_imu
+  rotation:
+    w: 0.005251232714324072
+    x: 0.7046754024829419
+    y: -0.7094799413019802
+    z: -0.006573779782016809
+  translation:
+    x: -0.015846751421098565
+    y: 0.19322607669094574
+    z: 0.07956850717224997
diff --git a/2024-11-04-16-05-00/metadata/alphasense_front_center.yaml b/2024-11-04-16-05-00/metadata/alphasense_front_center.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fa4cce98b10953f95ec009582cd63c70704640ec
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_front_center.yaml
@@ -0,0 +1,14 @@
+frame_id: alphasense_front_center
+topic: alphasense_front_center
+transform:
+  base_frame_id: box_base
+  child_frame_id: alphasense_front_center
+  rotation:
+    w: 0.541225186106887
+    x: -0.45494336062045815
+    y: -0.4544944669145965
+    z: -0.5417901956430607
+  translation:
+    x: 0.04600713143181777
+    y: -0.0032140911178705073
+    z: -0.3751986320280252
diff --git a/2024-11-04-16-05-00/metadata/alphasense_front_center_caminfo.yaml b/2024-11-04-16-05-00/metadata/alphasense_front_center_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..55818806fad1cf1e8d39bed8ca6738281b28b81a
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_front_center_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.0385234391527932
+  - -0.006412522405808069
+  - 0.00607744610815908
+  - -0.002388499938007876
+  K:
+  - 700.3894350332721
+  - 0.0
+  - 682.8896513142247
+  - 0.0
+  - 700.1313839578163
+  - 523.1354161020042
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 700.3894350332721
+  - 0.0
+  - 682.8896513142247
+  - 0.0
+  - 0.0
+  - 700.1313839578163
+  - 523.1354161020042
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: alphasense_front_center
+  height: 1080
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1440
diff --git a/2024-11-04-16-05-00/metadata/alphasense_front_left.yaml b/2024-11-04-16-05-00/metadata/alphasense_front_left.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cf86229c1b96b74219ab9dc283098931e12e9585
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_front_left.yaml
@@ -0,0 +1,14 @@
+frame_id: alphasense_front_left
+topic: alphasense_front_left
+transform:
+  base_frame_id: box_base
+  child_frame_id: alphasense_front_left
+  rotation:
+    w: 0.5368758638762299
+    x: -0.45974498896225247
+    y: -0.45019665401233916
+    z: -0.5456389141431761
+  translation:
+    x: 0.10008743117500188
+    y: -0.005044106160423112
+    z: -0.3759478344493785
diff --git a/2024-11-04-16-05-00/metadata/alphasense_front_left_caminfo.yaml b/2024-11-04-16-05-00/metadata/alphasense_front_left_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..64f003f7e902ace58a541836d5a90d3647d03d2b
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_front_left_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.03843622792783702
+  - -0.002634177248264113
+  - 0.002422949539367233
+  - -0.001382691294699419
+  K:
+  - 701.4545727023193
+  - 0.0
+  - 680.2585465191044
+  - 0.0
+  - 700.1179107526791
+  - 537.6794158094971
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 701.4545727023193
+  - 0.0
+  - 680.2585465191044
+  - 0.0
+  - 0.0
+  - 700.1179107526791
+  - 537.6794158094971
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: alphasense_front_left
+  height: 1080
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1440
diff --git a/2024-11-04-16-05-00/metadata/alphasense_front_right.yaml b/2024-11-04-16-05-00/metadata/alphasense_front_right.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7db90d40c484f9452faa819e9748fa7ac45c09bb
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_front_right.yaml
@@ -0,0 +1,14 @@
+frame_id: alphasense_front_right
+topic: alphasense_front_right
+transform:
+  base_frame_id: box_base
+  child_frame_id: alphasense_front_right
+  rotation:
+    w: 0.5415552717416523
+    x: -0.45428021832487614
+    y: -0.45594501981218066
+    z: -0.5407971059426985
+  translation:
+    x: -0.008591409149567839
+    y: -0.004939215486247553
+    z: -0.3747769505103547
diff --git a/2024-11-04-16-05-00/metadata/alphasense_front_right_caminfo.yaml b/2024-11-04-16-05-00/metadata/alphasense_front_right_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b7a9cb7f0a49b5d546978edaf913796d1d7b109e
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_front_right_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.04459393782932651
+  - 0.01237852934390858
+  - -0.01313451092983728
+  - 0.003895777285135927
+  K:
+  - 701.6656970672693
+  - 0.0
+  - 675.8628766265481
+  - 0.0
+  - 700.8504216642683
+  - 534.6583586732144
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 701.6656970672693
+  - 0.0
+  - 675.8628766265481
+  - 0.0
+  - 0.0
+  - 700.8504216642683
+  - 534.6583586732144
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: alphasense_front_right
+  height: 1080
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1440
diff --git a/2024-11-04-16-05-00/metadata/alphasense_imu.yaml b/2024-11-04-16-05-00/metadata/alphasense_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd4d08c165928d94bce7f8b8d2502b4c545017f9
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: alphasense_imu
+topic: alphasense_imu
+transform:
+  base_frame_id: box_base
+  child_frame_id: alphasense_imu
+  rotation:
+    w: 0.9992675697949326
+    x: -0.00720142304148732
+    y: -0.036738890418011295
+    z: -0.007919431365965667
+  translation:
+    x: -0.3022307436356707
+    y: 0.061798150722505
+    z: -0.08410765585489798
diff --git a/2024-11-04-16-05-00/metadata/alphasense_left.yaml b/2024-11-04-16-05-00/metadata/alphasense_left.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..835abd6470147d51dbe65f08f882e5ef1c1b5940
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_left.yaml
@@ -0,0 +1,14 @@
+frame_id: alphasense_left
+topic: alphasense_left
+transform:
+  base_frame_id: box_base
+  child_frame_id: alphasense_left
+  rotation:
+    w: 0.7629309956447421
+    x: -0.6464698403272188
+    y: 0.0035455747661431447
+    z: 0.0006858071159475156
+  translation:
+    x: -0.2991991707202636
+    y: -0.040493099699673664
+    z: -0.15557014858322163
diff --git a/2024-11-04-16-05-00/metadata/alphasense_left_caminfo.yaml b/2024-11-04-16-05-00/metadata/alphasense_left_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9418e583d22ba1e798e30e2e063a49230a4f9e37
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_left_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.04153221153112917
+  - -0.001458244747164001
+  - 0.002246288862899356
+  - -0.00119721270298716
+  K:
+  - 700.8972615106184
+  - 0.0
+  - 706.2319041225614
+  - 0.0
+  - 701.0200085909775
+  - 525.8760223159921
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 700.8972615106184
+  - 0.0
+  - 706.2319041225614
+  - 0.0
+  - 0.0
+  - 701.0200085909775
+  - 525.8760223159921
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: alphasense_left
+  height: 1080
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1440
diff --git a/2024-11-04-16-05-00/metadata/alphasense_right.yaml b/2024-11-04-16-05-00/metadata/alphasense_right.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8a5944ff619400951640fe4aadef48a840a81ad8
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_right.yaml
@@ -0,0 +1,14 @@
+frame_id: alphasense_right
+topic: alphasense_right
+transform:
+  base_frame_id: box_base
+  child_frame_id: alphasense_right
+  rotation:
+    w: 0.0024233744493068338
+    x: 0.007051890013999862
+    y: -0.6356317567377696
+    z: -0.7719563899145896
+  translation:
+    x: 0.3005096713964913
+    y: -0.05350472559028527
+    z: -0.06790435993644765
diff --git a/2024-11-04-16-05-00/metadata/alphasense_right_caminfo.yaml b/2024-11-04-16-05-00/metadata/alphasense_right_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7f8455fe0473e771ee32c4874969c755f1a70b8a
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/alphasense_right_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.0412338408417994
+  - 0.004285261971427854
+  - -0.005208088628229656
+  - 0.001463833354868288
+  K:
+  - 697.11736829549
+  - 0.0
+  - 750.1699243236521
+  - 0.0
+  - 697.2298815427183
+  - 553.3557744884637
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 697.11736829549
+  - 0.0
+  - 750.1699243236521
+  - 0.0
+  - 0.0
+  - 697.2298815427183
+  - 553.3557744884637
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: alphasense_right
+  height: 1080
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1440
diff --git a/2024-11-04-16-05-00/metadata/anymal_command_twist.yaml b/2024-11-04-16-05-00/metadata/anymal_command_twist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2e40adb1f88af85db46c14701e39f56ac4847bd5
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/anymal_command_twist.yaml
@@ -0,0 +1,2 @@
+frame_id: base
+topic: anymal_command_twist
diff --git a/2024-11-04-16-05-00/metadata/anymal_imu.yaml b/2024-11-04-16-05-00/metadata/anymal_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25de0ce02af9c0413098f951323494454f14ff11
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/anymal_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: anymal_imu
+topic: anymal_imu
+transform:
+  base_frame_id: base
+  child_frame_id: anymal_imu
+  rotation:
+    w: 3.749399456654644e-33
+    x: -6.123233995736766e-17
+    y: -1.0
+    z: -6.123233995736766e-17
+  translation:
+    x: -0.25565
+    y: -0.0025499999999999785
+    z: 0.07672
diff --git a/2024-11-04-16-05-00/metadata/anymal_state_actuator.yaml b/2024-11-04-16-05-00/metadata/anymal_state_actuator.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f3f460b14a7fdd3b953f59752921f8fa23d484e9
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/anymal_state_actuator.yaml
@@ -0,0 +1,2 @@
+frame_id: ''
+topic: anymal_state_actuator
diff --git a/2024-11-04-16-05-00/metadata/anymal_state_battery.yaml b/2024-11-04-16-05-00/metadata/anymal_state_battery.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bebc05e78fe821a246b4ff2fea9083511a191c49
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/anymal_state_battery.yaml
@@ -0,0 +1,2 @@
+frame_id: ''
+topic: anymal_state_battery
diff --git a/2024-11-04-16-05-00/metadata/anymal_state_odometry.yaml b/2024-11-04-16-05-00/metadata/anymal_state_odometry.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54b0d9d66520be33eba8d3b2f93ca9e709ed2efa
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/anymal_state_odometry.yaml
@@ -0,0 +1,2 @@
+frame_id: odom
+topic: anymal_state_odometry
diff --git a/2024-11-04-16-05-00/metadata/anymal_state_state_estimator.yaml b/2024-11-04-16-05-00/metadata/anymal_state_state_estimator.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1bbd1aad91162c4ad9b8067e9d06b649a0f22e97
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/anymal_state_state_estimator.yaml
@@ -0,0 +1,2 @@
+frame_id: odom
+topic: anymal_state_state_estimator
diff --git a/2024-11-04-16-05-00/metadata/ap20_imu.yaml b/2024-11-04-16-05-00/metadata/ap20_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ab6c0f9f9c6d5f9fc8bfcc9481e5921ba1cd0fc9
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/ap20_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: ap20_imu
+topic: ap20_imu
+transform:
+  base_frame_id: box_base
+  child_frame_id: ap20_imu
+  rotation:
+    w: 0.7118234995434812
+    x: 0.7023441372038522
+    y: 0.002839101058711715
+    z: -0.003458025191722333
+  translation:
+    x: -0.0019815872862082684
+    y: 0.002909799597334762
+    z: 0.10495166375034842
diff --git a/2024-11-04-16-05-00/metadata/cpt7_ie_rt_odometry.yaml b/2024-11-04-16-05-00/metadata/cpt7_ie_rt_odometry.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8bbf4860c012b3be48d70d6a94c65aa066e805bb
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/cpt7_ie_rt_odometry.yaml
@@ -0,0 +1,2 @@
+frame_id: enu_origin
+topic: cpt7_ie_rt_odometry
diff --git a/2024-11-04-16-05-00/metadata/cpt7_ie_rt_tf.yaml b/2024-11-04-16-05-00/metadata/cpt7_ie_rt_tf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..85956785d573eaa3b3e7a9d3a1effe30038408ab
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/cpt7_ie_rt_tf.yaml
@@ -0,0 +1,14 @@
+frame_id: cpt7_imu
+topic: cpt7_ie_rt_tf
+transform:
+  base_frame_id: box_base
+  child_frame_id: cpt7_imu
+  rotation:
+    w: 1.0
+    x: -0.0
+    y: -0.0
+    z: -0.0
+  translation:
+    x: 0.0
+    y: 0.0
+    z: 0.0
diff --git a/2024-11-04-16-05-00/metadata/cpt7_ie_tc_odometry.yaml b/2024-11-04-16-05-00/metadata/cpt7_ie_tc_odometry.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aff503a0e09658de1b2538e6a238e2943867b9c8
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/cpt7_ie_tc_odometry.yaml
@@ -0,0 +1,2 @@
+frame_id: enu_origin
+topic: cpt7_ie_tc_odometry
diff --git a/2024-11-04-16-05-00/metadata/cpt7_ie_tc_tf.yaml b/2024-11-04-16-05-00/metadata/cpt7_ie_tc_tf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..febe1512059235fef6c089e0e43007f584f7d944
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/cpt7_ie_tc_tf.yaml
@@ -0,0 +1,14 @@
+frame_id: cpt7_imu
+topic: cpt7_ie_tc_tf
+transform:
+  base_frame_id: box_base
+  child_frame_id: cpt7_imu
+  rotation:
+    w: 1.0
+    x: -0.0
+    y: -0.0
+    z: -0.0
+  translation:
+    x: 0.0
+    y: 0.0
+    z: 0.0
diff --git a/2024-11-04-16-05-00/metadata/cpt7_imu.yaml b/2024-11-04-16-05-00/metadata/cpt7_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3e392a99392a5ec6c065bf80554a346595fbaadf
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/cpt7_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: cpt7_imu
+topic: cpt7_imu
+transform:
+  base_frame_id: box_base
+  child_frame_id: cpt7_imu
+  rotation:
+    w: 1.0
+    x: -0.0
+    y: -0.0
+    z: -0.0
+  translation:
+    x: 0.0
+    y: 0.0
+    z: 0.0
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_front_lower.yaml b/2024-11-04-16-05-00/metadata/depth_camera_front_lower.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..821340f063c8691d8049d627376054377c16ff3e
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_front_lower.yaml
@@ -0,0 +1,14 @@
+frame_id: depth_camera_front_lower
+topic: depth_camera_front_lower
+transform:
+  base_frame_id: base
+  child_frame_id: depth_camera_front_lower
+  rotation:
+    w: 0.1853242209410057
+    x: -0.682120823997394
+    y: -0.6827000055661541
+    z: -0.1851669976040512
+  translation:
+    x: 0.025244004785019813
+    y: -0.28748365097540396
+    z: -0.23806593024678288
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_front_lower_caminfo.yaml b/2024-11-04-16-05-00/metadata/depth_camera_front_lower_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9f13de22241c421a8c9eb10595897d49e17e1162
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_front_lower_caminfo.yaml
@@ -0,0 +1,52 @@
+camera_info:
+  D:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  K:
+  - 424.9216003417969
+  - 0.0
+  - 428.3416748046875
+  - 0.0
+  - 424.9216003417969
+  - 237.89300537109375
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 424.9216003417969
+  - 0.0
+  - 428.3416748046875
+  - 0.0
+  - 0.0
+  - 424.9216003417969
+  - 237.89300537109375
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: plumb_bob
+  frame_id: depth_camera_front_lower
+  height: 480
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 848
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_front_upper.yaml b/2024-11-04-16-05-00/metadata/depth_camera_front_upper.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..22ae6f5b58704e68064abec63164db9213d12b89
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_front_upper.yaml
@@ -0,0 +1,14 @@
+frame_id: depth_camera_front_upper
+topic: depth_camera_front_upper
+transform:
+  base_frame_id: base
+  child_frame_id: depth_camera_front_upper
+  rotation:
+    w: 0.4306894486036953
+    x: -0.5608677721283586
+    y: -0.560580238989435
+    z: -0.43091035808363254
+  translation:
+    x: 0.024957449516778196
+    y: -0.0829849350915826
+    z: -0.3905787382352799
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_front_upper_caminfo.yaml b/2024-11-04-16-05-00/metadata/depth_camera_front_upper_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5bb00e6322f40f8eb769b7b0fb1cced0c604c943
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_front_upper_caminfo.yaml
@@ -0,0 +1,52 @@
+camera_info:
+  D:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  K:
+  - 428.0040283203125
+  - 0.0
+  - 429.46905517578125
+  - 0.0
+  - 428.0040283203125
+  - 233.146240234375
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 428.0040283203125
+  - 0.0
+  - 429.46905517578125
+  - 0.0
+  - 0.0
+  - 428.0040283203125
+  - 233.146240234375
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: plumb_bob
+  frame_id: depth_camera_front_upper
+  height: 480
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 848
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_left.yaml b/2024-11-04-16-05-00/metadata/depth_camera_left.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a35a60d8394059c3748abea6fa6cdee19cb0ddba
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_left.yaml
@@ -0,0 +1,14 @@
+frame_id: depth_camera_left
+topic: depth_camera_left
+transform:
+  base_frame_id: base
+  child_frame_id: depth_camera_left
+  rotation:
+    w: -0.40524782131784814
+    x: -0.9141898919041819
+    y: -0.0050937542777571565
+    z: -0.002257991301008538
+  translation:
+    x: 0.0242061858130713
+    y: 0.07137107769940886
+    z: -0.06013160430595553
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_left_caminfo.yaml b/2024-11-04-16-05-00/metadata/depth_camera_left_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a8afa6379cc89c4b72924527dcf040608871ee18
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_left_caminfo.yaml
@@ -0,0 +1,52 @@
+camera_info:
+  D:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  K:
+  - 427.0599060058594
+  - 0.0
+  - 423.9487609863281
+  - 0.0
+  - 427.0599060058594
+  - 230.01365661621094
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 427.0599060058594
+  - 0.0
+  - 423.9487609863281
+  - 0.0
+  - 0.0
+  - 427.0599060058594
+  - 230.01365661621094
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: plumb_bob
+  frame_id: depth_camera_left
+  height: 480
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 848
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_rear_lower.yaml b/2024-11-04-16-05-00/metadata/depth_camera_rear_lower.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ad7c4284bdf6a3f7f804144674abd29318b09cb3
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_rear_lower.yaml
@@ -0,0 +1,14 @@
+frame_id: depth_camera_rear_lower
+topic: depth_camera_rear_lower
+transform:
+  base_frame_id: base
+  child_frame_id: depth_camera_rear_lower
+  rotation:
+    w: -0.1818562220566243
+    x: 0.6753182459089098
+    y: -0.6923967447153604
+    z: -0.1773705983227687
+  translation:
+    x: 0.01771644477911219
+    y: -0.291914920763388
+    z: -0.2333051716531234
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_rear_lower_caminfo.yaml b/2024-11-04-16-05-00/metadata/depth_camera_rear_lower_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7fe6caa86742343436b5e65620a2b4e057894620
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_rear_lower_caminfo.yaml
@@ -0,0 +1,52 @@
+camera_info:
+  D:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  K:
+  - 429.2091369628906
+  - 0.0
+  - 430.5784912109375
+  - 0.0
+  - 429.2091369628906
+  - 236.21705627441406
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 429.2091369628906
+  - 0.0
+  - 430.5784912109375
+  - 0.0
+  - 0.0
+  - 429.2091369628906
+  - 236.21705627441406
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: plumb_bob
+  frame_id: depth_camera_rear_lower
+  height: 480
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 848
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_rear_upper.yaml b/2024-11-04-16-05-00/metadata/depth_camera_rear_upper.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1ac798820fb0139f1359c8bd54b463afce22f0d0
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_rear_upper.yaml
@@ -0,0 +1,14 @@
+frame_id: depth_camera_rear_upper
+topic: depth_camera_rear_upper
+transform:
+  base_frame_id: base
+  child_frame_id: depth_camera_rear_upper
+  rotation:
+    w: -0.4288525438138612
+    x: 0.5606297691810952
+    y: -0.567966630879787
+    z: -0.42331272574704876
+  translation:
+    x: 0.023834299957984015
+    y: -0.08981592717100904
+    z: -0.38913513060622656
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_rear_upper_caminfo.yaml b/2024-11-04-16-05-00/metadata/depth_camera_rear_upper_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..47a6ed31c0be6738001a0f9be807a741a916390f
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_rear_upper_caminfo.yaml
@@ -0,0 +1,52 @@
+camera_info:
+  D:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  K:
+  - 427.3077392578125
+  - 0.0
+  - 426.9342956542969
+  - 0.0
+  - 427.3077392578125
+  - 233.3394012451172
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 427.3077392578125
+  - 0.0
+  - 426.9342956542969
+  - 0.0
+  - 0.0
+  - 427.3077392578125
+  - 233.3394012451172
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: plumb_bob
+  frame_id: depth_camera_rear_upper
+  height: 480
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 848
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_right.yaml b/2024-11-04-16-05-00/metadata/depth_camera_right.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5570ee28b01cbc5f0853fa0016d46b5ae08a9f75
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_right.yaml
@@ -0,0 +1,14 @@
+frame_id: depth_camera_right
+topic: depth_camera_right
+transform:
+  base_frame_id: base
+  child_frame_id: depth_camera_right
+  rotation:
+    w: 0.0020469741271627595
+    x: -0.004486598891874416
+    y: -0.9097731195609077
+    z: 0.41507656071105803
+  translation:
+    x: 0.025687060614725817
+    y: 0.06953460693100322
+    z: -0.06164976363236345
diff --git a/2024-11-04-16-05-00/metadata/depth_camera_right_caminfo.yaml b/2024-11-04-16-05-00/metadata/depth_camera_right_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..627aa6ac34b7c56c110a708a8abb08f1d3670f89
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/depth_camera_right_caminfo.yaml
@@ -0,0 +1,52 @@
+camera_info:
+  D:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  K:
+  - 428.760009765625
+  - 0.0
+  - 425.7598571777344
+  - 0.0
+  - 428.760009765625
+  - 232.03164672851562
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 428.760009765625
+  - 0.0
+  - 425.7598571777344
+  - 0.0
+  - 0.0
+  - 428.760009765625
+  - 232.03164672851562
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: plumb_bob
+  frame_id: depth_camera_right
+  height: 480
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 848
diff --git a/2024-11-04-16-05-00/metadata/dlio_hesai_points_undistorted.yaml b/2024-11-04-16-05-00/metadata/dlio_hesai_points_undistorted.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dc2eea3a0c71371ff342390f6695ee2a2ea3879a
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/dlio_hesai_points_undistorted.yaml
@@ -0,0 +1,14 @@
+frame_id: hesai_lidar
+topic: dlio_hesai_points_undistorted
+transform:
+  base_frame_id: box_base
+  child_frame_id: hesai_lidar
+  rotation:
+    w: -0.004419949690193552
+    x: -0.7093301791430758
+    y: 0.7048516039326548
+    z: 0.003921407292290494
+  translation:
+    x: -0.04461184951630229
+    y: 0.3022381420105506
+    z: -0.01253994548350209
diff --git a/2024-11-04-16-05-00/metadata/dlio_map_odometry.yaml b/2024-11-04-16-05-00/metadata/dlio_map_odometry.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fc305524072a8b0e23cfddd7cd392de412d3b619
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/dlio_map_odometry.yaml
@@ -0,0 +1,2 @@
+frame_id: dlio_map
+topic: dlio_map_odometry
diff --git a/2024-11-04-16-05-00/metadata/dlio_tf.yaml b/2024-11-04-16-05-00/metadata/dlio_tf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dffe47f0b550f3004889496c8e146020233b7677
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/dlio_tf.yaml
@@ -0,0 +1,14 @@
+frame_id: hesai_lidar
+topic: dlio_tf
+transform:
+  base_frame_id: box_base
+  child_frame_id: hesai_lidar
+  rotation:
+    w: -0.004419949690193552
+    x: -0.7093301791430758
+    y: 0.7048516039326548
+    z: 0.003921407292290494
+  translation:
+    x: -0.04461184951630229
+    y: 0.3022381420105506
+    z: -0.01253994548350209
diff --git a/2024-11-04-16-05-00/metadata/gnss_raw_cpt7_ie_rt.yaml b/2024-11-04-16-05-00/metadata/gnss_raw_cpt7_ie_rt.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..16e15c7b52f2e90493b5f6b4d23c76a248699964
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/gnss_raw_cpt7_ie_rt.yaml
@@ -0,0 +1,2 @@
+frame_id: enu_origin
+topic: gnss_raw_cpt7_ie_rt
diff --git a/2024-11-04-16-05-00/metadata/gnss_raw_cpt7_ie_tc.yaml b/2024-11-04-16-05-00/metadata/gnss_raw_cpt7_ie_tc.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..88158a45cbe5d4c9a4ee74b409a193fb6ac501df
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/gnss_raw_cpt7_ie_tc.yaml
@@ -0,0 +1,2 @@
+frame_id: enu_origin
+topic: gnss_raw_cpt7_ie_tc
diff --git a/2024-11-04-16-05-00/metadata/hdr_front.yaml b/2024-11-04-16-05-00/metadata/hdr_front.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4d5e82a3a2a4ca949ea01153d7cdb63e247cd07c
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hdr_front.yaml
@@ -0,0 +1,14 @@
+frame_id: hdr_front
+topic: hdr_front
+transform:
+  base_frame_id: box_base
+  child_frame_id: hdr_front
+  rotation:
+    w: 0.4970495903927929
+    x: -0.499305922637098
+    y: -0.5005829735777374
+    z: -0.5030427286761467
+  translation:
+    x: 0.04836030494808155
+    y: -0.10282483832595525
+    z: -0.36926064730524666
diff --git a/2024-11-04-16-05-00/metadata/hdr_front_caminfo.yaml b/2024-11-04-16-05-00/metadata/hdr_front_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a45c08e6a6ed08f7036fd2d172ab57b9a4ae2628
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hdr_front_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.06150262047071293
+  - 0.003455916289334078
+  - -0.001233506511528716
+  - -1.770797322903057e-07
+  K:
+  - 984.407734999804
+  - 0.0
+  - 952.3920462113495
+  - 0.0
+  - 983.8103917846685
+  - 638.6385463949282
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 984.407734999804
+  - 0.0
+  - 952.3920462113495
+  - 0.0
+  - 0.0
+  - 983.8103917846685
+  - 638.6385463949282
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: hdr_front
+  height: 1280
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1920
diff --git a/2024-11-04-16-05-00/metadata/hdr_left.yaml b/2024-11-04-16-05-00/metadata/hdr_left.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..55e7e8a3462001d0243f5172c17aa8162aac12eb
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hdr_left.yaml
@@ -0,0 +1,14 @@
+frame_id: hdr_left
+topic: hdr_left
+transform:
+  base_frame_id: box_base
+  child_frame_id: hdr_left
+  rotation:
+    w: 0.6981144475823984
+    x: -0.7106446365240748
+    y: 0.06071950908492229
+    z: 0.06271809844673303
+  translation:
+    x: -0.3123877547915767
+    y: -0.1040746815988313
+    z: -0.0946004294028184
diff --git a/2024-11-04-16-05-00/metadata/hdr_left_caminfo.yaml b/2024-11-04-16-05-00/metadata/hdr_left_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7c0cf9bac3618896a084fae58ada5994ac52a264
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hdr_left_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.06197316482293826
+  - 0.004006257468933251
+  - -0.001841005641481967
+  - 0.000127217281951442
+  K:
+  - 989.5113761548931
+  - 0.0
+  - 941.6012985424921
+  - 0.0
+  - 989.4529900290106
+  - 638.5569783252755
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 989.5113761548931
+  - 0.0
+  - 941.6012985424921
+  - 0.0
+  - 0.0
+  - 989.4529900290106
+  - 638.5569783252755
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: hdr_left
+  height: 1280
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1920
diff --git a/2024-11-04-16-05-00/metadata/hdr_right.yaml b/2024-11-04-16-05-00/metadata/hdr_right.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5fae1ccc6ef8c7203a45bdff8a2a221716a62fc5
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hdr_right.yaml
@@ -0,0 +1,14 @@
+frame_id: hdr_right
+topic: hdr_right
+transform:
+  base_frame_id: box_base
+  child_frame_id: hdr_right
+  rotation:
+    w: -0.05968925863378414
+    x: 0.06271504848629056
+    y: -0.701622990300235
+    z: -0.7072688276598
+  translation:
+    x: 0.2984670188513917
+    y: -0.1021873680871323
+    z: -0.007282571655555148
diff --git a/2024-11-04-16-05-00/metadata/hdr_right_caminfo.yaml b/2024-11-04-16-05-00/metadata/hdr_right_caminfo.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d6e0da5227c586744533b2b32cdbe37e2bfda17
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hdr_right_caminfo.yaml
@@ -0,0 +1,51 @@
+camera_info:
+  D:
+  - -0.06226555154591874
+  - 0.006984942920386333
+  - -0.005291335660179726
+  - 0.001455018149071658
+  K:
+  - 984.8643239835407
+  - 0.0
+  - 946.7086445278437
+  - 0.0
+  - 984.5008837495056
+  - 636.9616008492758
+  - 0.0
+  - 0.0
+  - 1.0
+  P:
+  - 984.8643239835407
+  - 0.0
+  - 946.7086445278437
+  - 0.0
+  - 0.0
+  - 984.5008837495056
+  - 636.9616008492758
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  R:
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  binning_x: 0
+  binning_y: 0
+  distortion_model: equidistant
+  frame_id: hdr_right
+  height: 1280
+  roi:
+    do_rectify: false
+    height: 0
+    width: 0
+    x_offset: 0
+    y_offset: 0
+  width: 1920
diff --git a/2024-11-04-16-05-00/metadata/hesai_points.yaml b/2024-11-04-16-05-00/metadata/hesai_points.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fe823a5c34b61497ca6949d2f8a9246281f10599
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hesai_points.yaml
@@ -0,0 +1,14 @@
+frame_id: hesai_lidar
+topic: hesai_points
+transform:
+  base_frame_id: box_base
+  child_frame_id: hesai_lidar
+  rotation:
+    w: -0.004419949690193552
+    x: -0.7093301791430758
+    y: 0.7048516039326548
+    z: 0.003921407292290494
+  translation:
+    x: -0.04461184951630229
+    y: 0.3022381420105506
+    z: -0.01253994548350209
diff --git a/2024-11-04-16-05-00/metadata/hesai_points_undistorted.yaml b/2024-11-04-16-05-00/metadata/hesai_points_undistorted.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0a1e2daf0f452ee54f85409ddac3ce90ab177a1f
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/hesai_points_undistorted.yaml
@@ -0,0 +1,14 @@
+frame_id: hesai_lidar
+topic: hesai_points_undistorted
+transform:
+  base_frame_id: box_base
+  child_frame_id: hesai_lidar
+  rotation:
+    w: -0.004419949690193552
+    x: -0.7093301791430758
+    y: 0.7048516039326548
+    z: 0.003921407292290494
+  translation:
+    x: -0.04461184951630229
+    y: 0.3022381420105506
+    z: -0.01253994548350209
diff --git a/2024-11-04-16-05-00/metadata/livox_imu.yaml b/2024-11-04-16-05-00/metadata/livox_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..81d97abbb08c9b2f16448f66f883f16492cffa07
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/livox_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: livox_imu
+topic: livox_imu
+transform:
+  base_frame_id: box_base
+  child_frame_id: livox_imu
+  rotation:
+    w: 0.9999514279010147
+    x: -0.007862897821623277
+    y: 0.0001266741714154213
+    z: -0.005941433347507674
+  translation:
+    x: -0.309334506793968
+    y: 0.02772866572054537
+    z: 0.15059851991550668
diff --git a/2024-11-04-16-05-00/metadata/livox_points.yaml b/2024-11-04-16-05-00/metadata/livox_points.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..186ba1e78ad9ffb774488861b547a64ddc80e72a
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/livox_points.yaml
@@ -0,0 +1,14 @@
+frame_id: livox_lidar
+topic: livox_points
+transform:
+  base_frame_id: box_base
+  child_frame_id: livox_lidar
+  rotation:
+    w: 0.9999743041039169
+    x: -0.006935301181255335
+    y: 0.0015623437878433857
+    z: -0.0009229362387923458
+  translation:
+    x: -0.30263164816469024
+    y: 0.04875595821861217
+    z: 0.1098417136717083
diff --git a/2024-11-04-16-05-00/metadata/livox_points_undistorted.yaml b/2024-11-04-16-05-00/metadata/livox_points_undistorted.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a028990de1269e9749daaebe4a4f59e2edb172a0
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/livox_points_undistorted.yaml
@@ -0,0 +1,14 @@
+frame_id: livox_lidar
+topic: livox_points_undistorted
+transform:
+  base_frame_id: box_base
+  child_frame_id: livox_lidar
+  rotation:
+    w: 0.9999743041039169
+    x: -0.006935301181255335
+    y: 0.0015623437878433857
+    z: -0.0009229362387923458
+  translation:
+    x: -0.30263164816469024
+    y: 0.04875595821861217
+    z: 0.1098417136717083
diff --git a/2024-11-04-16-05-00/metadata/navsatfix_cpt7_ie_tc.yaml b/2024-11-04-16-05-00/metadata/navsatfix_cpt7_ie_tc.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6704c16b5095431b5fb0a3a59cde19039083c02e
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/navsatfix_cpt7_ie_tc.yaml
@@ -0,0 +1,2 @@
+frame_id: enu_origin
+topic: navsatfix_cpt7_ie_tc
diff --git a/2024-11-04-16-05-00/metadata/prism_position.yaml b/2024-11-04-16-05-00/metadata/prism_position.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ece0e648bbe8f4ada5545f51f61cc24e8fdf0fe
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/prism_position.yaml
@@ -0,0 +1,2 @@
+frame_id: leica_total_station
+topic: prism_position
diff --git a/2024-11-04-16-05-00/metadata/stim320_imu.yaml b/2024-11-04-16-05-00/metadata/stim320_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..21d5bbe0f18350ea1f5821e979bfa5f06e46fb27
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/stim320_imu.yaml
@@ -0,0 +1,14 @@
+frame_id: stim320_imu
+topic: stim320_imu
+transform:
+  base_frame_id: box_base
+  child_frame_id: stim320_imu
+  rotation:
+    w: -0.005861732683034935
+    x: -0.999969253444768
+    y: -0.005117285966486087
+    z: 0.0009724399227390018
+  translation:
+    x: -0.28505604358365294
+    y: -0.07158336465343071
+    z: 0.15961588385259787
diff --git a/2024-11-04-16-05-00/metadata/tf.yaml b/2024-11-04-16-05-00/metadata/tf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b299b9f91312319fe7a0a4ba483643bfca747d14
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/tf.yaml
@@ -0,0 +1,312 @@
+adis16475_imu:
+  base_frame_id: box_base
+  child_frame_id: adis16475_imu
+  rotation:
+    w: 0.005251232714324072
+    x: 0.7046754024829419
+    y: -0.7094799413019802
+    z: -0.006573779782016809
+  translation:
+    x: -0.015846751421098565
+    y: 0.19322607669094574
+    z: 0.07956850717224997
+alphasense_base:
+  base_frame_id: box_base
+  child_frame_id: alphasense_base
+  rotation:
+    w: 0.541225186106887
+    x: -0.45494336062045815
+    y: -0.4544944669145965
+    z: -0.5417901956430607
+  translation:
+    x: 0.04600713143181777
+    y: -0.0032140911178705073
+    z: -0.3751986320280252
+alphasense_front_center:
+  base_frame_id: box_base
+  child_frame_id: alphasense_front_center
+  rotation:
+    w: 0.541225186106887
+    x: -0.45494336062045815
+    y: -0.4544944669145965
+    z: -0.5417901956430607
+  translation:
+    x: 0.04600713143181777
+    y: -0.0032140911178705073
+    z: -0.3751986320280252
+alphasense_front_left:
+  base_frame_id: box_base
+  child_frame_id: alphasense_front_left
+  rotation:
+    w: 0.5368758638762299
+    x: -0.45974498896225247
+    y: -0.45019665401233916
+    z: -0.5456389141431761
+  translation:
+    x: 0.10008743117500188
+    y: -0.005044106160423112
+    z: -0.3759478344493785
+alphasense_front_right:
+  base_frame_id: box_base
+  child_frame_id: alphasense_front_right
+  rotation:
+    w: 0.5415552717416523
+    x: -0.45428021832487614
+    y: -0.45594501981218066
+    z: -0.5407971059426985
+  translation:
+    x: -0.008591409149567839
+    y: -0.004939215486247553
+    z: -0.3747769505103547
+alphasense_imu:
+  base_frame_id: box_base
+  child_frame_id: alphasense_imu
+  rotation:
+    w: 0.9992675697949326
+    x: -0.00720142304148732
+    y: -0.036738890418011295
+    z: -0.007919431365965667
+  translation:
+    x: -0.3022307436356707
+    y: 0.061798150722505
+    z: -0.08410765585489798
+alphasense_left:
+  base_frame_id: box_base
+  child_frame_id: alphasense_left
+  rotation:
+    w: 0.7629309956447421
+    x: -0.6464698403272188
+    y: 0.0035455747661431447
+    z: 0.0006858071159475156
+  translation:
+    x: -0.2991991707202636
+    y: -0.040493099699673664
+    z: -0.15557014858322163
+alphasense_right:
+  base_frame_id: box_base
+  child_frame_id: alphasense_right
+  rotation:
+    w: 0.0024233744493068338
+    x: 0.007051890013999862
+    y: -0.6356317567377696
+    z: -0.7719563899145896
+  translation:
+    x: 0.3005096713964913
+    y: -0.05350472559028527
+    z: -0.06790435993644765
+anymal_imu:
+  base_frame_id: base
+  child_frame_id: anymal_imu
+  rotation:
+    w: 3.749399456654644e-33
+    x: -6.123233995736766e-17
+    y: -1.0
+    z: -6.123233995736766e-17
+  translation:
+    x: -0.25565
+    y: -0.0025499999999999785
+    z: 0.07672
+ap20_imu:
+  base_frame_id: box_base
+  child_frame_id: ap20_imu
+  rotation:
+    w: 0.7118234995434812
+    x: 0.7023441372038522
+    y: 0.002839101058711715
+    z: -0.003458025191722333
+  translation:
+    x: -0.0019815872862082684
+    y: 0.002909799597334762
+    z: 0.10495166375034842
+box_base:
+  base_frame_id: base
+  child_frame_id: box_base
+  rotation:
+    w: 4.0026794885936924e-05
+    x: -0.9999999991989279
+    y: 0.0
+    z: 0.0
+  translation:
+    x: -0.0764038
+    y: -0.036122437224394885
+    z: 0.2802761091673168
+cpt7_imu:
+  base_frame_id: box_base
+  child_frame_id: cpt7_imu
+  rotation:
+    w: 1.0
+    x: -0.0
+    y: -0.0
+    z: -0.0
+  translation:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+depth_camera_front_lower:
+  base_frame_id: base
+  child_frame_id: depth_camera_front_lower
+  rotation:
+    w: 0.1853242209410057
+    x: -0.682120823997394
+    y: -0.6827000055661541
+    z: -0.1851669976040512
+  translation:
+    x: 0.025244004785019813
+    y: -0.28748365097540396
+    z: -0.23806593024678288
+depth_camera_front_upper:
+  base_frame_id: base
+  child_frame_id: depth_camera_front_upper
+  rotation:
+    w: 0.4306894486036953
+    x: -0.5608677721283586
+    y: -0.560580238989435
+    z: -0.43091035808363254
+  translation:
+    x: 0.024957449516778196
+    y: -0.0829849350915826
+    z: -0.3905787382352799
+depth_camera_left:
+  base_frame_id: base
+  child_frame_id: depth_camera_left
+  rotation:
+    w: -0.40524782131784814
+    x: -0.9141898919041819
+    y: -0.0050937542777571565
+    z: -0.002257991301008538
+  translation:
+    x: 0.0242061858130713
+    y: 0.07137107769940886
+    z: -0.06013160430595553
+depth_camera_rear_lower:
+  base_frame_id: base
+  child_frame_id: depth_camera_rear_lower
+  rotation:
+    w: -0.1818562220566243
+    x: 0.6753182459089098
+    y: -0.6923967447153604
+    z: -0.1773705983227687
+  translation:
+    x: 0.01771644477911219
+    y: -0.291914920763388
+    z: -0.2333051716531234
+depth_camera_rear_upper:
+  base_frame_id: base
+  child_frame_id: depth_camera_rear_upper
+  rotation:
+    w: -0.4288525438138612
+    x: 0.5606297691810952
+    y: -0.567966630879787
+    z: -0.42331272574704876
+  translation:
+    x: 0.023834299957984015
+    y: -0.08981592717100904
+    z: -0.38913513060622656
+depth_camera_right:
+  base_frame_id: base
+  child_frame_id: depth_camera_right
+  rotation:
+    w: 0.0020469741271627595
+    x: -0.004486598891874416
+    y: -0.9097731195609077
+    z: 0.41507656071105803
+  translation:
+    x: 0.025687060614725817
+    y: 0.06953460693100322
+    z: -0.06164976363236345
+hdr_front:
+  base_frame_id: box_base
+  child_frame_id: hdr_front
+  rotation:
+    w: 0.4970495903927929
+    x: -0.499305922637098
+    y: -0.5005829735777374
+    z: -0.5030427286761467
+  translation:
+    x: 0.04836030494808155
+    y: -0.10282483832595525
+    z: -0.36926064730524666
+hdr_left:
+  base_frame_id: box_base
+  child_frame_id: hdr_left
+  rotation:
+    w: 0.6981144475823984
+    x: -0.7106446365240748
+    y: 0.06071950908492229
+    z: 0.06271809844673303
+  translation:
+    x: -0.3123877547915767
+    y: -0.1040746815988313
+    z: -0.0946004294028184
+hdr_right:
+  base_frame_id: box_base
+  child_frame_id: hdr_right
+  rotation:
+    w: -0.05968925863378414
+    x: 0.06271504848629056
+    y: -0.701622990300235
+    z: -0.7072688276598
+  translation:
+    x: 0.2984670188513917
+    y: -0.1021873680871323
+    z: -0.007282571655555148
+hesai_lidar:
+  base_frame_id: box_base
+  child_frame_id: hesai_lidar
+  rotation:
+    w: -0.004419949690193552
+    x: -0.7093301791430758
+    y: 0.7048516039326548
+    z: 0.003921407292290494
+  translation:
+    x: -0.04461184951630229
+    y: 0.3022381420105506
+    z: -0.01253994548350209
+livox_imu:
+  base_frame_id: box_base
+  child_frame_id: livox_imu
+  rotation:
+    w: 0.9999514279010147
+    x: -0.007862897821623277
+    y: 0.0001266741714154213
+    z: -0.005941433347507674
+  translation:
+    x: -0.309334506793968
+    y: 0.02772866572054537
+    z: 0.15059851991550668
+livox_lidar:
+  base_frame_id: box_base
+  child_frame_id: livox_lidar
+  rotation:
+    w: 0.9999743041039169
+    x: -0.006935301181255335
+    y: 0.0015623437878433857
+    z: -0.0009229362387923458
+  translation:
+    x: -0.30263164816469024
+    y: 0.04875595821861217
+    z: 0.1098417136717083
+stim320_imu:
+  base_frame_id: box_base
+  child_frame_id: stim320_imu
+  rotation:
+    w: -0.005861732683034935
+    x: -0.999969253444768
+    y: -0.005117285966486087
+    z: 0.0009724399227390018
+  translation:
+    x: -0.28505604358365294
+    y: -0.07158336465343071
+    z: 0.15961588385259787
+velodyne_lidar:
+  base_frame_id: base
+  child_frame_id: velodyne_lidar
+  rotation:
+    w: 2.220446049250313e-16
+    x: 0.0
+    y: 0.0
+    z: -1.0
+  translation:
+    x: -0.31
+    y: -1.376676550535194e-16
+    z: -0.1585
diff --git a/2024-11-04-16-05-00/metadata/velodyne_points.yaml b/2024-11-04-16-05-00/metadata/velodyne_points.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f65d5af5a8c90062c81140acf4a43b3cfef8019a
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/velodyne_points.yaml
@@ -0,0 +1,14 @@
+frame_id: velodyne_lidar
+topic: velodyne_points
+transform:
+  base_frame_id: base
+  child_frame_id: velodyne_lidar
+  rotation:
+    w: 2.220446049250313e-16
+    x: 0.0
+    y: 0.0
+    z: -1.0
+  translation:
+    x: -0.31
+    y: -1.376676550535194e-16
+    z: -0.1585
diff --git a/2024-11-04-16-05-00/metadata/velodyne_points_undistorted.yaml b/2024-11-04-16-05-00/metadata/velodyne_points_undistorted.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..728fa5ff983859fcf0700298660e55b442dc4e4b
--- /dev/null
+++ b/2024-11-04-16-05-00/metadata/velodyne_points_undistorted.yaml
@@ -0,0 +1,14 @@
+frame_id: velodyne_lidar
+topic: velodyne_points_undistorted
+transform:
+  base_frame_id: base
+  child_frame_id: velodyne_lidar
+  rotation:
+    w: 2.220446049250313e-16
+    x: 0.0
+    y: 0.0
+    z: -1.0
+  translation:
+    x: -0.31
+    y: -1.376676550535194e-16
+    z: -0.1585