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.cyclo_cache/subtasks_parquet_v21/14f8a310a8f4acf61ca7b18a26cd8f90f8101460f08436f44a374d15b9ad9382/manifest.json

@@ -0,0 +1 @@
+{"cache_key": {"codebase_version": "v2.1", "pyarrow_version": "25.0.0", "rows": [{"subtask": "260807_test_3", "subtask_index": 0}], "version": 1}}

.cyclo_cache/tasks_parquet_v30/fc18dd92a52b683777b02545eb6cc69c0c4e19315a059b2bf70fe1e4dc338efc/manifest.json

@@ -0,0 +1 @@
+{"cache_key": {"data_key_digest": "ab4eaaeb84f333ce10efcf26b676ecd27e72016f4508f34424fb2dd920d1c04e", "parquet_write_kwargs": {}, "task_names": {"260807_test_3": "260807_test_3"}, "tasks": {"0": "260807_test_3"}, "version": 1}}

0/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 0,
+  "timestamp": "2026-08-07T02:21:46Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        23.013879853
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

0/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 23013879853
+  starting_time:
+    nanoseconds_since_epoch: 1786069283539064453
+  message_count: 17002
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9206
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 6905
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 891
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 0_0.mcap
+  files:
+  - path: 0_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069283539064453
+    duration:
+      nanoseconds: 23013879853
+    message_count: 17002
+  custom_data: null
+  ros_distro: jazzy

0/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

0/videos/0_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069283546307291,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 691,
+  "frames_received": 691,
+  "frames_remuxed": 691,
+  "frames_written": 691,
+  "last_recv_ns": 1786069306547736785,
+  "max_callback_queue_bytes": 94972,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 38202,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 104480668,
+  "max_metadata_queue_items": 3,
+  "max_raw_queue_bytes": 94972,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1363500,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/0/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/0/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 109727007,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/0/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

1/camera_info/camera_metadata.yaml

@@ -0,0 +1,11 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_front:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_front/color/image_rect_raw/compressed
+  cam_wrist:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_wrist/color/image_rect_raw/compressed

1/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 1,
+  "timestamp": "2026-08-07T02:22:22Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        26.786989137
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

1/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 26786989137
+  starting_time:
+    nanoseconds_since_epoch: 1786069316099893865
+  message_count: 19672
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10716
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7920
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1036
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 1_0.mcap
+  files:
+  - path: 1_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069316099893865
+    duration:
+      nanoseconds: 26786989137
+    message_count: 19672
+  custom_data: null
+  ros_distro: jazzy

1/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

1/videos/1_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069316113814304,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 804,
+  "frames_received": 804,
+  "frames_remuxed": 804,
+  "frames_written": 804,
+  "last_recv_ns": 1786069342882569047,
+  "max_callback_queue_bytes": 97051,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 29883,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1271441,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 97051,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1607944,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/1/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/1/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 112102581,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/1/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

1/videos/1_0/cam_wrist_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069316149935355,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 402,
+  "frames_received": 402,
+  "frames_remuxed": 402,
+  "frames_written": 402,
+  "last_recv_ns": 1786069342857199968,
+  "max_callback_queue_bytes": 41022,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 61211,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1140531,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 41022,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1028056,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/1/segments/0/videos/cam_wrist.mp4",
+  "name": "cam_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/1/segments/0/videos/cam_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 66494587,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/1/segments/0/videos/cam_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_wrist/color/image_rect_raw/compressed"
+}

10/camera_info/camera_metadata.yaml

@@ -0,0 +1,11 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_front:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_front/color/image_rect_raw/compressed
+  cam_wrist:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_wrist/color/image_rect_raw/compressed

10/videos/10_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069655949591768,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 687,
+  "frames_received": 687,
+  "frames_remuxed": 687,
+  "frames_written": 687,
+  "last_recv_ns": 1786069678818966289,
+  "max_callback_queue_bytes": 97159,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 37271,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1013360,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 97159,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1046366,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/10/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/10/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 111651992,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/10/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

10/videos/10_0/cam_wrist_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069655986128550,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 344,
+  "frames_received": 344,
+  "frames_remuxed": 344,
+  "frames_written": 344,
+  "last_recv_ns": 1786069678828533401,
+  "max_callback_queue_bytes": 41717,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 31676,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 594418,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 41717,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 3980331,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/10/segments/0/videos/cam_wrist.mp4",
+  "name": "cam_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/10/segments/0/videos/cam_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 55481370,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/10/segments/0/videos/cam_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_wrist/color/image_rect_raw/compressed"
+}

11/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 11,
+  "timestamp": "2026-08-07T02:28:59Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        27.21685356
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

11/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 27216853560
+  starting_time:
+    nanoseconds_since_epoch: 1786069712612531577
+  message_count: 18716
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10887
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 6775
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1054
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 11_0.mcap
+  files:
+  - path: 11_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069712612531577
+    duration:
+      nanoseconds: 27216853560
+    message_count: 18716
+  custom_data: null
+  ros_distro: jazzy

11/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

12/camera_info/camera_metadata.yaml

@@ -0,0 +1,11 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_front:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_front/color/image_rect_raw/compressed
+  cam_wrist:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_wrist/color/image_rect_raw/compressed

12/videos/12_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069768019608106,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 696,
+  "frames_received": 696,
+  "frames_remuxed": 696,
+  "frames_written": 696,
+  "last_recv_ns": 1786069791181094145,
+  "max_callback_queue_bytes": 97465,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 34833,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 586316,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 97465,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1936762,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/12/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/12/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 119159916,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/12/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

12/videos/12_0/cam_wrist_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069768002898086,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 349,
+  "frames_received": 349,
+  "frames_remuxed": 349,
+  "frames_written": 349,
+  "last_recv_ns": 1786069791177361978,
+  "max_callback_queue_bytes": 41847,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 22447,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1057826,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 41847,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 862257,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/12/segments/0/videos/cam_wrist.mp4",
+  "name": "cam_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/12/segments/0/videos/cam_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 62081976,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/12/segments/0/videos/cam_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_wrist/color/image_rect_raw/compressed"
+}

2/camera_info/camera_metadata.yaml

@@ -0,0 +1,11 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_front:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_front/color/image_rect_raw/compressed
+  cam_wrist:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_wrist/color/image_rect_raw/compressed

2/videos/2_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069353411239373,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 699,
+  "frames_received": 699,
+  "frames_remuxed": 699,
+  "frames_written": 699,
+  "last_recv_ns": 1786069376684108616,
+  "max_callback_queue_bytes": 98619,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 42707,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1050849,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 98619,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 3505768,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/2/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/2/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 116520345,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/2/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

2/videos/2_0/cam_wrist_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069353443242632,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 350,
+  "frames_received": 350,
+  "frames_remuxed": 350,
+  "frames_written": 350,
+  "last_recv_ns": 1786069376687639918,
+  "max_callback_queue_bytes": 42023,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 36040,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 843707,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 42023,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 857188,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/2/segments/0/videos/cam_wrist.mp4",
+  "name": "cam_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/2/segments/0/videos/cam_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 68806944,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/2/segments/0/videos/cam_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_wrist/color/image_rect_raw/compressed"
+}

3/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 3,
+  "timestamp": "2026-08-07T02:23:27Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        21.721987839
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

3/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 21721987839
+  starting_time:
+    nanoseconds_since_epoch: 1786069385634169986
+  message_count: 16046
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8689
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 6516
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 841
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 3_0.mcap
+  files:
+  - path: 3_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069385634169986
+    duration:
+      nanoseconds: 21721987839
+    message_count: 16046
+  custom_data: null
+  ros_distro: jazzy

3/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

4/camera_info/camera_metadata.yaml

@@ -0,0 +1,11 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_front:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_front/color/image_rect_raw/compressed
+  cam_wrist:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_wrist/color/image_rect_raw/compressed

4/videos/4_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069415478721815,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 707,
+  "frames_received": 707,
+  "frames_remuxed": 707,
+  "frames_written": 707,
+  "last_recv_ns": 1786069439015833619,
+  "max_callback_queue_bytes": 96601,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 42678,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 9808306,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 96601,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1190729,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/4/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/4/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 121519303,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/4/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

4/videos/4_0/cam_wrist_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069415508850040,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 354,
+  "frames_received": 354,
+  "frames_remuxed": 354,
+  "frames_written": 354,
+  "last_recv_ns": 1786069439023674115,
+  "max_callback_queue_bytes": 41954,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 33991,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 617060,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 41954,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 1876697,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/4/segments/0/videos/cam_wrist.mp4",
+  "name": "cam_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/4/segments/0/videos/cam_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 62143267,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/4/segments/0/videos/cam_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_wrist/color/image_rect_raw/compressed"
+}

5/camera_info/camera_metadata.yaml

@@ -0,0 +1,11 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_front:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_front/color/image_rect_raw/compressed
+  cam_wrist:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /camera/cam_wrist/color/image_rect_raw/compressed

5/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 5,
+  "timestamp": "2026-08-07T02:24:57Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        23.568162106
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

5/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

5/videos/5_0/cam_front_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069474085254728,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 708,
+  "frames_received": 708,
+  "frames_remuxed": 708,
+  "frames_written": 708,
+  "last_recv_ns": 1786069497647035978,
+  "max_callback_queue_bytes": 98831,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 47978,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 880116,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 98831,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 2640453,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/5/segments/0/videos/cam_front.mp4",
+  "name": "cam_front",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/5/segments/0/videos/cam_front.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 120355685,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/5/segments/0/videos/cam_front_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_front/color/image_rect_raw/compressed"
+}

5/videos/5_0/cam_wrist_recorder_stats.json

@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1786069474119621291,
+  "frames_dropped_invalid": 0,
+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 354,
+  "frames_received": 354,
+  "frames_remuxed": 354,
+  "frames_written": 354,
+  "last_recv_ns": 1786069497621263085,
+  "max_callback_queue_bytes": 47168,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 36008,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 873007,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 47168,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 3261419,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/5/segments/0/videos/cam_wrist.mp4",
+  "name": "cam_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/5/segments/0/videos/cam_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 61462957,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_test3_260807_test_3_MCAP/5/segments/0/videos/cam_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera/cam_wrist/color/image_rect_raw/compressed"
+}

6/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 6,
+  "timestamp": "2026-08-07T02:26:05Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        21.500579787
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

6/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 21500579787
+  starting_time:
+    nanoseconds_since_epoch: 1786069543571812828
+  message_count: 15883
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8601
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 6450
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 832
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 6_0.mcap
+  files:
+  - path: 6_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069543571812828
+    duration:
+      nanoseconds: 21500579787
+    message_count: 15883
+  custom_data: null
+  ros_distro: jazzy

6/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

7/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 7,
+  "timestamp": "2026-08-07T02:26:33Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        18.274219823
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

7/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 18274219823
+  starting_time:
+    nanoseconds_since_epoch: 1786069575124887480
+  message_count: 13500
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7310
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 5483
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 707
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 7_0.mcap
+  files:
+  - path: 7_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069575124887480
+    duration:
+      nanoseconds: 18274219823
+    message_count: 13500
+  custom_data: null
+  ros_distro: jazzy

7/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

8/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 8,
+  "timestamp": "2026-08-07T02:27:00Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        17.920891692
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

8/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 17920891692
+  starting_time:
+    nanoseconds_since_epoch: 1786069602131900648
+  message_count: 13240
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7169
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 5377
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 694
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 8_0.mcap
+  files:
+  - path: 8_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069602131900648
+    duration:
+      nanoseconds: 17920891692
+    message_count: 13240
+  custom_data: null
+  ros_distro: jazzy

8/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

9/episode_info.json

@@ -0,0 +1,22 @@
+{
+  "task_instruction": "260807_test_3",
+  "task_num": "test3",
+  "task_name": "260807_test_3",
+  "robot_type": "omy_f3m",
+  "device_serial": "irasc5090-1",
+  "episode_index": 9,
+  "timestamp": "2026-08-07T02:27:27Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "260807_test_3",
+      "frame_duration": [
+        0.0,
+        20.065110642
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

9/metadata.yaml

@@ -0,0 +1,43 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 20065110642
+  starting_time:
+    nanoseconds_since_epoch: 1786069627661928703
+  message_count: 14390
+  topics_with_message_count:
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8027
+  - topic_metadata:
+      name: /leader/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 5586
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 777
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 9_0.mcap
+  files:
+  - path: 9_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1786069627661928703
+    duration:
+      nanoseconds: 20065110642
+    message_count: 14390
+  custom_data: null
+  ros_distro: jazzy

9/robot.urdf

@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omy_f3m">
+  <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="gripper_fixed" type="fixed">
+    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
+    <parent link="end_effector_flange_link"/>
+    <axis xyz="0 0 0"/>
+    <child link="rh_p12_rn_base"/>
+  </joint>
+  <joint name="end_effector_joint" type="fixed">
+    <parent link="end_effector_flange_link"/>
+    <child link="end_effector_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
+  </joint>
+  <link name="end_effector_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
+      <mass value="1.528748600e+00"/>
+      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link0"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.05"/>
+  </joint>
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
+      <mass value="2.064883200e+00"/>
+      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
+      <mass value="3.679539500e+00"/>
+      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0 0 0.247"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
+      <mass value="2.386591600e+00"/>
+      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.10" radius="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
+      <mass value="1.400234700e+00"/>
+      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
+      <geometry>
+        <cylinder length="0.22" radius="0.08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
+      <mass value="4.001547500e-01"/>
+      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
+    <parent link="link6"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_flange_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="end_effector_flange_link"/>
+    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
+  </joint>
+  <link name="end_effector_flange_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
+      <mass value="1.661875800e-02"/>
+      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
+    </inertial>
+  </link>
+  <!-- base -->
+  <link name="rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="rh_r1_joint" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="rh_r2" type="revolute">
+    <parent link="rh_p12_rn_r1"/>
+    <child link="rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="rh_l1" type="revolute">
+    <parent link="rh_p12_rn_base"/>
+    <child link="rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="rh_l2" type="revolute">
+    <parent link="rh_p12_rn_l1"/>
+    <child link="rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="rh_r1_joint" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+</robot>

README.md

@@ -0,0 +1,10 @@
+---
+tags:
+  - robotis
+  - cyclo_intelligence
+  - robotics
+---
+
+# Task_test3_260807_test_3_MCAP
+
+Created with [Cyclo Intelligence](https://github.com/ROBOTIS-GIT/cyclo_intelligence) by ROBOTIS.