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@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+20260726_DISTORTION_FIXED/R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED/R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED.mcap filter=lfs diff=lfs merge=lfs -text

20260726_DISTORTION_FIXED/R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED/R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98c54deb301c2d0e87a123c0a9dbb4f80991c1341a23a03abeb728b972806f5
+size 527825910

20260726_DISTORTION_FIXED/R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED/distortion_fix.json

@@ -0,0 +1,26 @@
+{
+  "all_original_serialized_messages_preserved": true,
+  "backend": "NVIDIA VPI 3.1 CUDA remap",
+  "calibration_file": "/opt/galaxea/body/stereo_ros.yaml",
+  "calibration_sha256": "195ac1482e7d485cdb94a4a76fb42ed6faf706aefad1edb6e5b836b03701f00a",
+  "correction_stage": "live_before_rosbag_recording",
+  "distortion_fixed": true,
+  "head_camera_info_topics": [
+    "/calib/head_left/camera_info",
+    "/calib/head_right/camera_info"
+  ],
+  "head_camera_only": true,
+  "head_image_topics": [
+    "/hdas/camera_head/left_raw/image_raw_color/compressed",
+    "/hdas/camera_head/right_raw/image_raw_color/compressed"
+  ],
+  "head_resolution": [
+    1920,
+    1536
+  ],
+  "image_reencoded_during_finalization": false,
+  "jpeg_quality": 90,
+  "processed_at": "2026-07-26T20:08:06+08:00",
+  "source_mcap": "/home/nvidia/GalaxeaDataset/20260726/R2026B63T0A9900010_20260726200547025_RAW/R2026B63T0A9900010_20260726200547025_RAW.mcap",
+  "wrist_cameras_modified": false
+}

20260726_DISTORTION_FIXED/R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED/metadata.yaml

@@ -0,0 +1,395 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 12168853872
+  starting_time:
+    nanoseconds_since_epoch: 1785067548252301724
+  message_count: 21944
+  topics_with_message_count:
+  - topic_metadata:
+      name: /hdas/feedback_status_torso
+      type: hdas_msg/msg/FeedbackStatus
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/feedback_gripper_right
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2395
+  - topic_metadata:
+      name: /hdas/feedback_chassis
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2396
+  - topic_metadata:
+      name: /hdas/imu_torso
+      type: sensor_msgs/msg/Imu
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 1209
+  - topic_metadata:
+      name: /hdas/feedback_right_arm_wrench
+      type: geometry_msgs/msg/WrenchStamped
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 0
+  - topic_metadata:
+      name: /hdas/camera_wrist_right/aligned_depth_to_color/image_raw
+      type: sensor_msgs/msg/Image
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 2\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+    message_count: 0
+  - topic_metadata:
+      name: /hdas/bms
+      type: hdas_msg/msg/Bms
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 13
+  - topic_metadata:
+      name: /hdas/imu_chassis
+      type: sensor_msgs/msg/Imu
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2402
+  - topic_metadata:
+      name: /hdas/feedback_arm_left
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2412
+  - topic_metadata:
+      name: /hdas/camera_wrist_right/color/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 2\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+    message_count: 361
+  - topic_metadata:
+      name: /calib/joint_bias
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/feedback_arm_right
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2402
+  - topic_metadata:
+      name: /tf_static
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false\n- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n\
+        \    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec:\
+        \ 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false\n\
+        - history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n\
+        \    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec:\
+        \ 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false\n\
+        - history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n\
+        \    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec:\
+        \ 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/feedback_status_arm_right
+      type: hdas_msg/msg/FeedbackStatus
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /controller
+      type: hdas_msg/msg/ControllerSignalStamped
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2399
+  - topic_metadata:
+      name: /hdas/feedback_left_arm_wrench
+      type: geometry_msgs/msg/WrenchStamped
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 0
+  - topic_metadata:
+      name: /calib/head_left/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/feedback_status_arm_left
+      type: hdas_msg/msg/FeedbackStatus
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/feedback_torso
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2392
+  - topic_metadata:
+      name: /hdas/feedback_hand_left
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 0
+  - topic_metadata:
+      name: /hdas/camera_head/right_raw/image_raw_color/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 320
+  - topic_metadata:
+      name: /dataset/distortion_fix
+      type: std_msgs/msg/String
+      serialization_format: cdr
+      offered_qos_profiles: ''
+    message_count: 1
+  - topic_metadata:
+      name: /hdas/right_acu_version
+      type: hdas_msg/msg/Version
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/tcu_version
+      type: hdas_msg/msg/Version
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/left_acu_version
+      type: hdas_msg/msg/Version
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /calib/head_right/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/camera_head/left_raw/image_raw_color/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 318
+  - topic_metadata:
+      name: /hdas/feedback_gripper_left
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 2403
+  - topic_metadata:
+      name: /hdas/feedback_hand_right
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 0
+  - topic_metadata:
+      name: /hdas/camera_wrist_left/color/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 2\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+    message_count: 364
+  - topic_metadata:
+      name: /calib/arm_right/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/camera_wrist_left/aligned_depth_to_color/image_raw
+      type: sensor_msgs/msg/Image
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 2\n  durability:\
+        \ 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 2\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+    message_count: 0
+  - topic_metadata:
+      name: /hdas/vcu_version
+      type: hdas_msg/msg/Version
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 13
+  - topic_metadata:
+      name: /calib/arm_left/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 12
+  - topic_metadata:
+      name: /hdas/ccu_version
+      type: hdas_msg/msg/Version
+      serialization_format: cdr
+      offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability:\
+        \ 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n\
+        \    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions:\
+        \ false"
+    message_count: 0
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED.mcap
+  files:
+  - path: R2026B63T0A9900010_20260726200547025_RAW_DISTORTION_FIXED.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1785067548252301724
+    duration:
+      nanoseconds: 12168853872
+    message_count: 21944
+distortion_fix:
+  distortion_fixed: true
+  correction_stage: live_before_rosbag_recording
+  head_camera_only: true
+  wrist_cameras_modified: false
+  image_reencoded_during_finalization: false
+  all_original_serialized_messages_preserved: true
+  backend: NVIDIA VPI 3.1 CUDA remap
+  calibration_file: /opt/galaxea/body/stereo_ros.yaml
+  calibration_sha256: 195ac1482e7d485cdb94a4a76fb42ed6faf706aefad1edb6e5b836b03701f00a
+  head_resolution:
+  - 1920
+  - 1536
+  jpeg_quality: 90
+  processed_at: '2026-07-26T20:08:06+08:00'
+  source_mcap: /home/nvidia/GalaxeaDataset/20260726/R2026B63T0A9900010_20260726200547025_RAW/R2026B63T0A9900010_20260726200547025_RAW.mcap
+  head_image_topics:
+  - /hdas/camera_head/left_raw/image_raw_color/compressed
+  - /hdas/camera_head/right_raw/image_raw_color/compressed
+  head_camera_info_topics:
+  - /calib/head_left/camera_info
+  - /calib/head_right/camera_info

README.md

@@ -0,0 +1,73 @@
+---
+pretty_name: Galaxea R1 Lite Camera Calibration Sample
+license: other
+tags:
+  - robotics
+  - ros2
+  - camera-calibration
+  - galaxea
+---
+
+# Galaxea R1 Lite distortion-corrected camera sample
+
+This is a stationary ROS 2 data-collection test made on 2026-07-26. No
+chassis, torso, arm, gripper, IK, teleoperation, odometry, or pose-control
+command was run during the test.
+
+## Result
+
+| Stream | Resolution | Messages | Effective bag rate |
+|---|---:|---:|---:|
+| Head left, rectified | 1920 x 1536 | 318 | 26.1 FPS |
+| Head right, rectified | 1920 x 1536 | 320 | 26.3 FPS |
+| Wrist left, unchanged | 1280 x 720 | 364 | 29.9 FPS |
+| Wrist right, unchanged | 1280 x 720 | 361 | 29.7 FPS |
+
+The bag duration is 12.1689 seconds. It contains 21,943 original messages
+plus one `/dataset/distortion_fix` marker. A byte-for-byte verification found
+that all 21,943 source messages, timestamps, topic names, and serialized
+payloads were preserved in the final package.
+
+## Correction method
+
+Only the two head-camera streams are changed. Each camera is captured directly
+from its 1920 x 1536 YUYV V4L2 device, then rectified using an NVIDIA VPI 3.1
+CUDA warp generated from the company-provided calibration file:
+
+`/opt/galaxea/body/stereo_ros.yaml`
+
+Calibration SHA-256:
+`195ac1482e7d485cdb94a4a76fb42ed6faf706aefad1edb6e5b836b03701f00a`
+
+The rectified image is JPEG encoded at quality 90 and published on the same
+head-camera topic names used by the original recorder. A small C++ ROS 2
+publisher avoids Python serialization overhead. Head CameraInfo uses zero
+distortion coefficients and the official rectified stereo projection matrices.
+The right projection retains the stereo baseline (`P[3] = -66.4200456`).
+
+The wrist-camera streams and all non-camera packets are unchanged. The final
+packaging step does not decode or re-encode any image.
+
+## Files
+
+- `20260726_DISTORTION_FIXED/...mcap`: complete ROS 2 MCAP episode.
+- `20260726_DISTORTION_FIXED/metadata.yaml`: ROS bag metadata plus correction annotation.
+- `20260726_DISTORTION_FIXED/distortion_fix.json`: human-readable correction metadata.
+- `four_camera_20260726_DISTORTION_FIXED.mp4`: 1920 x 1080 four-camera preview at 15 FPS.
+
+## Why the previous method was slow
+
+The older Python live pipeline subscribed to already-compressed JPEG ROS
+messages, decoded both full-resolution images, remapped them, encoded them
+again, and serialized large ROS messages in Python. The correction math was
+not the main bottleneck. Direct V4L2 capture, CUDA remap, and a C++ publisher
+remove the expensive ROS/Python path.
+
+## Operational notes
+
+The vendor package files were not modified for this solution. The preferred
+rollback is to stop the Jimmy rectifier and restart the unchanged vendor head
+camera. The backup snapshot is stored at:
+
+`/home/nvidia/jimmy/camera_distortion_backup_20260726_before_company_calibration`
+

four_camera_20260726_DISTORTION_FIXED.mp4

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+size 22313128