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@@ -58,3 +58,178 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
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0/0_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3c9d0c388d8f43fbb6c51f00745f3c42e010a83bc09b81c0e376b366c5612e
+size 77504886

0/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 0,
+  "timestamp": "2026-06-15T05:19:18Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

0/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 12805905836
+  starting_time:
+    nanoseconds_since_epoch: 1781500745354818967
+  message_count: 9014
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 243
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2559
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2554
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2549
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 365
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 360
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 384
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 0_0.mcap
+  files:
+    - path: 0_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781500745354818967
+      duration:
+        nanoseconds: 12805905836
+      message_count: 9014
+  custom_data: ~
+  ros_distro: jazzy

0/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

1/1_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f36be7a2f12fa8324d6e53e814741bf38e0343331c97238cd0def9e7d9f8825
+size 68927150

1/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 1,
+  "timestamp": "2026-06-15T05:19:51Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

1/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 11482342405
+  starting_time:
+    nanoseconds_since_epoch: 1781500780414190305
+  message_count: 8074
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 217
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2294
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2287
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2282
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 328
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 321
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 345
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 1_0.mcap
+  files:
+    - path: 1_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781500780414190305
+      duration:
+        nanoseconds: 11482342405
+      message_count: 8074
+  custom_data: ~
+  ros_distro: jazzy

1/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

10/10_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2cbbc56dd46aaeb024dc09e221e76fb8ea7fffa82a311df99aa6eb6f98f073
+size 61372211

10/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 10,
+  "timestamp": "2026-06-15T05:33:51Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

10/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 10733464933
+  starting_time:
+    nanoseconds_since_epoch: 1781501620748873780
+  message_count: 7662
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 417
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2092
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2120
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2100
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 303
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 307
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 323
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 10_0.mcap
+  files:
+    - path: 10_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781501620748873780
+      duration:
+        nanoseconds: 10733464933
+      message_count: 7662
+  custom_data: ~
+  ros_distro: jazzy

10/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

100/100_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0bbd3c61d9e01c927b12ec76b363fdd3d5251800c56a9d6f1af244cc3f1469
+size 65384508

100/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 100,
+  "timestamp": "2026-06-15T06:30:57Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

100/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 10246039069
+  starting_time:
+    nanoseconds_since_epoch: 1781505047067825323
+  message_count: 7308
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 398
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2013
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2003
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2003
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 287
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 297
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 307
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 100_0.mcap
+  files:
+    - path: 100_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505047067825323
+      duration:
+        nanoseconds: 10246039069
+      message_count: 7308
+  custom_data: ~
+  ros_distro: jazzy

100/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

101/101_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a7cc8da9f9047723b0145b97cd13fe7d7a7c41ab5af091572a1e60800bcbd2
+size 69855411

101/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 101,
+  "timestamp": "2026-06-15T06:31:39Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

101/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 10660531522
+  starting_time:
+    nanoseconds_since_epoch: 1781505088806894784
+  message_count: 7625
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 414
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2108
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2091
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2083
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 304
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 307
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 318
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 101_0.mcap
+  files:
+    - path: 101_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505088806894784
+      duration:
+        nanoseconds: 10660531522
+      message_count: 7625
+  custom_data: ~
+  ros_distro: jazzy

101/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
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+    <child link="camera_bottom_screw_frame" />
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+    <parent link="camera_bottom_screw_frame" />
+    <child link="camera_link" />
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+    <dynamics damping="0.7" />
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+    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5" />
+    <dynamics damping="0.7" />
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+</robot>

102/102_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:896a48bc07a585ca2e0db21adfe456d04c2ac8a39c3437ed31e1a6672e60e63f
+size 76628421

102/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 102,
+  "timestamp": "2026-06-15T06:31:59Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

102/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 11975846813
+  starting_time:
+    nanoseconds_since_epoch: 1781505108006535044
+  message_count: 8538
+  topics_with_message_count:
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+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 465
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2347
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2376
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2317
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 334
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 340
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 359
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 102_0.mcap
+  files:
+    - path: 102_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505108006535044
+      duration:
+        nanoseconds: 11975846813
+      message_count: 8538
+  custom_data: ~
+  ros_distro: jazzy

102/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

103/103_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f308c38901451169ae6d3d9063d0ead7fffc677e04e4ec610d926efc1c4c88f
+size 70634881

103/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 103,
+  "timestamp": "2026-06-15T06:32:30Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

103/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 10932442715
+  starting_time:
+    nanoseconds_since_epoch: 1781505139430211546
+  message_count: 7783
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 425
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2145
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2138
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2120
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 312
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 315
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 328
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 103_0.mcap
+  files:
+    - path: 103_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505139430211546
+      duration:
+        nanoseconds: 10932442715
+      message_count: 7783
+  custom_data: ~
+  ros_distro: jazzy

103/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

104/104_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148d7cc684664b437a015efd418f94b62133494037fcbc8310bea51b8609bbe2
+size 77207998

104/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 104,
+  "timestamp": "2026-06-15T06:32:49Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

104/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 12000117419
+  starting_time:
+    nanoseconds_since_epoch: 1781505157872552300
+  message_count: 8543
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 464
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2368
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2367
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2314
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 331
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 339
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 360
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 104_0.mcap
+  files:
+    - path: 104_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505157872552300
+      duration:
+        nanoseconds: 12000117419
+      message_count: 8543
+  custom_data: ~
+  ros_distro: jazzy

104/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

105/105_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e77ed2e450de5be07e3a6e9ae607779d8b8538ca24156036b8b0bf6b7a0b41e9
+size 72811972

105/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 105,
+  "timestamp": "2026-06-15T06:33:11Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

105/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 11049463765
+  starting_time:
+    nanoseconds_since_epoch: 1781505180837722540
+  message_count: 7905
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 431
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2174
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2192
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2158
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 305
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 314
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 331
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 105_0.mcap
+  files:
+    - path: 105_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505180837722540
+      duration:
+        nanoseconds: 11049463765
+      message_count: 7905
+  custom_data: ~
+  ros_distro: jazzy

105/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
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+      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00" />
+      <mass value="1.661875800e-02" />
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+    </inertial>
+  </link>
+  
+  <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 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>
+  
+  <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>
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+      <mass value="0.068" />
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+    </inertial>
+  </link>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

106/106_0.mcap

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2ce5bf4a6f66a552e7c1ab3de6fed62b12ed48ac5a782d8b01207b352410b8
+size 69187030

106/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 106,
+  "timestamp": "2026-06-15T06:33:30Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

106/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 10646429430
+  starting_time:
+    nanoseconds_since_epoch: 1781505199645975399
+  message_count: 7572
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 413
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2090
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2091
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2058
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 298
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 303
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 319
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 106_0.mcap
+  files:
+    - path: 106_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505199645975399
+      duration:
+        nanoseconds: 10646429430
+      message_count: 7572
+  custom_data: ~
+  ros_distro: jazzy

106/robot.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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" />
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+        <box size="0.023 0.042 0.042" />
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+    </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>
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+    </inertial>
+  </link>
+  
+  <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>
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+    </inertial>
+  </link>
+  
+  <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>
+  
+  <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" />
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+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1" />
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+    <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

107/107_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51bec431162844b2bb239f65ea158ea1030bb3fce5312ad81768978dc68f82c3
+size 75946038

107/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 107,
+  "timestamp": "2026-06-15T06:33:51Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

107/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 11616717073
+  starting_time:
+    nanoseconds_since_epoch: 1781505220325873413
+  message_count: 8313
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 451
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2298
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2284
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2267
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 330
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 335
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 348
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 107_0.mcap
+  files:
+    - path: 107_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505220325873413
+      duration:
+        nanoseconds: 11616717073
+      message_count: 8313
+  custom_data: ~
+  ros_distro: jazzy

107/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

108/108_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd4f346af6100e9e49c29dc3a2d95ca5e64cef6a00d9cc20be74708db9207086
+size 70104427

108/episode_info.json

@@ -0,0 +1,10 @@
+{
+  "task_instruction": "push the elevator button",
+  "robot_type": "frontier_omy_f3m",
+  "episode_index": 108,
+  "timestamp": "2026-06-15T06:34:10Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "gaemi-1-g50-0203",
+  "needs_review": false
+}

108/metadata.yaml

@@ -0,0 +1,78 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 10775790038
+  starting_time:
+    nanoseconds_since_epoch: 1781505239947146317
+  message_count: 7661
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 419
+    - topic_metadata:
+        name: /leader/joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2099
+    - topic_metadata:
+        name: /arm/tactile_broadcaster/gpio_states
+        type: control_msgs/msg/DynamicInterfaceGroupValues
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2126
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 2077
+    - topic_metadata:
+        name: /camera/cam_belly/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 309
+    - topic_metadata:
+        name: /camera/cam_top/color/image_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 307
+    - topic_metadata:
+        name: /camera/cam_wrist/color/image_rect_raw/compressed
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles:
+          []
+        type_description_hash: ""
+      message_count: 324
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 108_0.mcap
+  files:
+    - path: 108_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1781505239947146317
+      duration:
+        nanoseconds: 10775790038
+      message_count: 7661
+  custom_data: ~
+  ros_distro: jazzy

108/robot.urdf

@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<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>
+  
+  <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>
+      
+      <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>
+      
+      <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>
+  
+  <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 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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>
+  
+  <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>

109/109_0.mcap

@@ -0,0 +1,3 @@
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+oid sha256:1fd5b00b35c720e60ff48accb5d73b63fc58cf8a229f2b79f687d45765e775e8
+size 69922751