| collections: | |
| events: | |
| event_interfaces: | |
| - negative_reward_event | |
| stream: ros2 | |
| type: data_collector::collectors::EventCollector | |
| left_arm: | |
| actor_interfaces: | |
| - left_joints | |
| perception_interfaces: | |
| - left_cam | |
| stream: ros2 | |
| type: data_collector::collectors::UDCLeftCollector | |
| right_arm: | |
| actor_interfaces: | |
| - right_joints | |
| perception_interfaces: | |
| - right_cam | |
| stream: ros2 | |
| type: data_collector::collectors::UDCRightCollector | |
| torso: | |
| perception_interfaces: | |
| - middle_cam | |
| stream: ros2 | |
| type: data_collector::collectors::DefaultCollector | |
| interfaces: | |
| left_cam: | |
| chain_elements: | |
| link7: left_arm_link7 | |
| mode: camera | |
| state_topic: | |
| _interface_name: left_cam | |
| ideal-frequency: '60.00' | |
| topic: perception/piper_bimanual_perception/camera/left_arm_cam/color/image_rect_raw | |
| type: sensor_msgs/msg/Image | |
| type: perception_interface | |
| left_depth: | |
| chain_elements: | |
| link7: left_arm_link7 | |
| mode: camera | |
| state_topic: | |
| ideal-frequency: -1 | |
| topic: perception/piper_bimanual_perception/camera/left_arm_cam/depth/image_rect_raw | |
| type: sensor_msgs/msg/Image | |
| type: perception_interface | |
| left_joints: | |
| action_topic: | |
| _interface_name: left_joints | |
| ideal-frequency: '60.00' | |
| topic: piper/teleop_motion_plan | |
| type: teleop_interfaces/msg/TeleopMotionPlan | |
| chain_elements: | |
| joint1: left_arm_joint1 | |
| joint2: left_arm_joint2 | |
| joint3: left_arm_joint3 | |
| joint4: left_arm_joint4 | |
| joint5: left_arm_joint5 | |
| joint6: left_arm_joint6 | |
| joint7: left_arm_joint7 | |
| mode: joint | |
| state_topic: | |
| _interface_name: left_joints | |
| ideal-frequency: '100.00' | |
| topic: piper/joint_states | |
| type: sensor_msgs/msg/JointState | |
| type: actor_interface | |
| middle_cam: | |
| chain_elements: | |
| link: gantry_mm | |
| mode: camera | |
| state_topic: | |
| _interface_name: middle_cam | |
| ideal-frequency: '60.00' | |
| topic: perception/piper_bimanual_perception/camera/arm_middle_cam/color/image_raw | |
| type: sensor_msgs/msg/Image | |
| type: perception_interface | |
| middle_depth: | |
| mode: camera | |
| state_topic: | |
| ideal-frequency: '60.00' | |
| topic: perception/piper_bimanual_perception/camera/arm_middle_cam/depth/image_rect_raw | |
| type: sensor_msgs/msg/Image | |
| type: perception_interface | |
| negative_reward_event: | |
| event_topic: | |
| _interface_name: negative_reward_event | |
| ideal-frequency: -1 | |
| topic: teleop_rod | |
| type: teleop_interfaces/msg/MetaTeleopData | |
| mode: continuous | |
| type: event_interface | |
| positive_reward_event: | |
| event_topic: | |
| ideal-frequency: -1 | |
| topic: teleop_rod | |
| type: teleop_interfaces/msg/MetaTeleopData | |
| mode: continuous | |
| type: event_interface | |
| ranger_twist: | |
| action_topic: | |
| ideal-frequency: -1 | |
| topic: something | |
| type: geometry_msgs/msg/Twist | |
| mode: mobile | |
| state_topic: | |
| ideal-frequency: -1 | |
| topic: something | |
| type: geometry_msgs/msg/Twist | |
| type: actor_interface | |
| right_cam: | |
| chain_elements: | |
| link7: right_arm_link7 | |
| mode: camera | |
| state_topic: | |
| _interface_name: right_cam | |
| ideal-frequency: '60.00' | |
| topic: perception/piper_bimanual_perception/camera/right_arm_cam/color/image_rect_raw | |
| type: sensor_msgs/msg/Image | |
| type: perception_interface | |
| right_depth: | |
| chain_elements: | |
| link7: right_arm_link7 | |
| mode: camera | |
| state_topic: | |
| ideal-frequency: '60.00' | |
| topic: perception/piper_bimanual_perception/camera/right_arm_cam/depth/image_rect_raw | |
| type: sensor_msgs/msg/Image | |
| type: perception_interface | |
| right_joints: | |
| action_topic: | |
| _interface_name: right_joints | |
| ideal-frequency: '60.00' | |
| topic: piper/teleop_motion_plan | |
| type: teleop_interfaces/msg/TeleopMotionPlan | |
| chain_elements: | |
| joint1: right_arm_joint1 | |
| joint2: right_arm_joint2 | |
| joint3: right_arm_joint3 | |
| joint4: right_arm_joint4 | |
| joint5: right_arm_joint5 | |
| joint6: right_arm_joint6 | |
| joint7: right_arm_joint7 | |
| mode: joint | |
| state_topic: | |
| _interface_name: right_joints | |
| ideal-frequency: '100.00' | |
| topic: piper/joint_states | |
| type: sensor_msgs/msg/JointState | |
| type: actor_interface | |
| start_episode: | |
| event_topic: | |
| ideal-frequency: -1 | |
| topic: teleop_rod | |
| type: teleop_interfaces/msg/MetaTeleopData | |
| mode: discrete | |
| type: event_interface | |
| stop_episode: | |
| event_topic: | |
| ideal-frequency: -1 | |
| topic: teleop_rod | |
| type: teleop_interfaces/msg/MetaTeleopData | |
| mode: discrete | |
| type: event_interface | |
| torso_joints: | |
| action_topic: | |
| ideal-frequency: '1.00' | |
| topic: torso/joint_states | |
| type: sensor_msgs/msg/JointState | |
| chain_elements: | |
| joint1: prismatic_1 | |
| mode: joint | |
| state_topic: | |
| ideal-frequency: '1.00' | |
| topic: torso/joint_states | |
| type: sensor_msgs/msg/JointState | |
| type: actor_interface | |