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
  cam_high:
    img_topic_name: /camera/color/image_raw
    depth_topic_name: /camera/depth/image_rect_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"
  ]