147 lines
2.8 KiB
YAML
147 lines
2.8 KiB
YAML
robot_type: aloha_agilex
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ros_node_name: record_episodes
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cameras:
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cam_front:
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img_topic_name: /camera_f/color/image_raw
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depth_topic_name: /camera_f/depth/image_raw
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width: 480
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height: 640
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rgb_shape: [480, 640, 3]
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cam_left:
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img_topic_name: /camera_l/color/image_raw
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depth_topic_name: /camera_l/depth/image_raw
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rgb_shape: [480, 640, 3]
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width: 480
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height: 640
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cam_right:
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img_topic_name: /camera_r/color/image_raw
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depth_topic_name: /camera_r/depth/image_raw
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rgb_shape: [480, 640, 3]
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width: 480
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height: 640
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cam_high:
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img_topic_name: /camera/color/image_raw
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depth_topic_name: /camera/depth/image_rect_raw
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rgb_shape: [480, 640, 3]
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width: 480
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height: 640
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arm:
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master_left:
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topic_name: /master/joint_left
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motors: [
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"left_joint0",
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"left_joint1",
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"left_joint2",
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"left_joint3",
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"left_joint4",
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"left_joint5",
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"left_none"
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]
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master_right:
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topic_name: /master/joint_right
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motors: [
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"right_joint0",
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"right_joint1",
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"right_joint2",
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"right_joint3",
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"right_joint4",
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"right_joint5",
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"right_none"
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]
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puppet_left:
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topic_name: /puppet/joint_left
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motors: [
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"left_joint0",
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"left_joint1",
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"left_joint2",
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"left_joint3",
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"left_joint4",
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"left_joint5",
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"left_none"
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]
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puppet_right:
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topic_name: /puppet/joint_right
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motors: [
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"right_joint0",
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"right_joint1",
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"right_joint2",
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"right_joint3",
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"right_joint4",
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"right_joint5",
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"right_none"
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]
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# follow the joint name in ros
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state:
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motors: [
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"left_joint0",
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"left_joint1",
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"left_joint2",
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"left_joint3",
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"left_joint4",
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"left_joint5",
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"left_none",
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"right_joint0",
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"right_joint1",
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"right_joint2",
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"right_joint3",
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"right_joint4",
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"right_joint5",
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"right_none"
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]
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velocity:
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motors: [
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"left_joint0",
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"left_joint1",
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"left_joint2",
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"left_joint3",
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"left_joint4",
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"left_joint5",
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"left_none",
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"right_joint0",
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"right_joint1",
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"right_joint2",
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"right_joint3",
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"right_joint4",
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"right_joint5",
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"right_none"
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]
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effort:
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motors: [
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"left_joint0",
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"left_joint1",
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"left_joint2",
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"left_joint3",
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"left_joint4",
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"left_joint5",
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"left_none",
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"right_joint0",
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"right_joint1",
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"right_joint2",
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"right_joint3",
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"right_joint4",
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"right_joint5",
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"right_none"
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]
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action:
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motors: [
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"left_joint0",
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"left_joint1",
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"left_joint2",
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"left_joint3",
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"left_joint4",
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"left_joint5",
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"left_none",
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"right_joint0",
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"right_joint1",
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"right_joint2",
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"right_joint3",
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"right_joint4",
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"right_joint5",
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"right_none"
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]
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