The data in this dataset have been recorded using rosbag record in ROS Indigo. Each rosbag contains an RGBD camera recording of an articulated object (e.g. a door) being actuated.

To replay the data you should have a current version of ROS installed and can perform e.g. "rosbag play FILENAME" on one of the files, and perform a "rostopic echo ROSTOPIC" command in another terminal to see the data printed.

The rosbags mainly contain common rgb and depth image channels with corresponding camera info topics. Some bags may also contain TF information.