| action_topics: | |
| leader_head: /leader/joystick_controller_left/joint_trajectory | |
| leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory | |
| leader_lift: /leader/joystick_controller_right/joint_trajectory | |
| leader_mobile: /cmd_vel | |
| leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory | |
| camera_topics: | |
| cam_head: /zed/zed_node/left/image_rect_color/compressed | |
| cam_wrist_left: /camera_left/camera_left/color/image_rect_raw/compressed | |
| cam_wrist_right: /camera_right/camera_right/color/image_rect_raw/compressed | |
| created_at: '2026-01-14 09:10:00' | |
| joint_order: | |
| leader_head: | |
| - head_joint1 | |
| - head_joint2 | |
| leader_left: | |
| - arm_l_joint1 | |
| - arm_l_joint2 | |
| - arm_l_joint3 | |
| - arm_l_joint4 | |
| - arm_l_joint5 | |
| - arm_l_joint6 | |
| - arm_l_joint7 | |
| - gripper_l_joint1 | |
| leader_lift: | |
| - lift_joint | |
| leader_mobile: | |
| - linear_x | |
| - linear_y | |
| - angular_z | |
| leader_right: | |
| - arm_r_joint1 | |
| - arm_r_joint2 | |
| - arm_r_joint3 | |
| - arm_r_joint4 | |
| - arm_r_joint5 | |
| - arm_r_joint6 | |
| - arm_r_joint7 | |
| - gripper_r_joint1 | |
| robot_type: ffw_sg2_rev1 | |
| state_topics: | |
| follower_mobile: /odom | |
| follower_upper_body: /joint_states | |
| total_joint_order: | |
| - arm_l_joint1 | |
| - arm_l_joint2 | |
| - arm_l_joint3 | |
| - arm_l_joint4 | |
| - arm_l_joint5 | |
| - arm_l_joint6 | |
| - arm_l_joint7 | |
| - gripper_l_joint1 | |
| - arm_r_joint1 | |
| - arm_r_joint2 | |
| - arm_r_joint3 | |
| - arm_r_joint4 | |
| - arm_r_joint5 | |
| - arm_r_joint6 | |
| - arm_r_joint7 | |
| - gripper_r_joint1 | |
| - head_joint1 | |
| - head_joint2 | |
| - lift_joint | |
| - linear_x | |
| - linear_y | |
| - angular_z | |