# Example MCAP files

This directory contains some example MCAP files.

## Attribution

### r2b_galileo.mcap

The `r2b_galileo.mcap` is a modified scene from the **r2b Dataset 2024**, originally provided by [NVIDIA](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/resources/r2bdataset2024).
The dataset is licensed under **Creative Commons Attribution 4.0 (CC BY 4.0)**.

- Original dataset: [r2b Dataset 2024](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/resources/r2bdataset2024)
- License details: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)

### trossen_transfer_cube.mcap

The `trossen_transfer_cube.mcap` was generated from a modified version of the **Trossen Arm MuJoCo** simulation.
The simulator was modified to produce custom Protobuf messages following the [MCAP Protobuf format](https://mcap.dev/guides/getting-started/protobuf).
The original simulation is provided by [Trossen Robotics](https://github.com/TrossenRobotics/trossen_arm_mujoco) and licensed under **BSD 3-Clause License**.

- Original repository: [trossen_arm_mujoco](https://github.com/TrossenRobotics/trossen_arm_mujoco)
- License details: [BSD 3-Clause License](https://opensource.org/licenses/BSD-3-Clause)