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tangger
2025-04-05 21:46:49 +08:00
parent 4b58b22868
commit 91c2b7b0cb
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collect_data/agilex.yaml Normal file
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robot_type: aloha_agilex
ros_node_name: record_episodes
cameras:
cam_front:
img_topic_name: /camera_f/color/image_raw
depth_topic_name: /camera_f/depth/image_raw
width: 480
height: 640
rgb_shape: [480, 640, 3]
cam_left:
img_topic_name: /camera_l/color/image_raw
depth_topic_name: /camera_l/depth/image_raw
rgb_shape: [480, 640, 3]
width: 480
height: 640
cam_right:
img_topic_name: /camera_r/color/image_raw
depth_topic_name: /camera_r/depth/image_raw
rgb_shape: [480, 640, 3]
width: 480
height: 640
arm:
master_left:
topic_name: /master/joint_left
motors: [
"left_joint0",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_none"
]
master_right:
topic_name: /master/joint_right
motors: [
"right_joint0",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_none"
]
puppet_left:
topic_name: /puppet/joint_left
motors: [
"left_joint0",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_none"
]
puppet_right:
topic_name: /puppet/joint_right
motors: [
"right_joint0",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_none"
]
# follow the joint name in ros
state:
motors: [
"left_joint0",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_none",
"right_joint0",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_none"
]
velocity:
motors: [
"left_joint0",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_none",
"right_joint0",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_none"
]
effort:
motors: [
"left_joint0",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_none",
"right_joint0",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_none"
]
action:
motors: [
"left_joint0",
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_none",
"right_joint0",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_none"
]