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collections:
events:
event_interfaces:
- stop_episode
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:
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:
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:
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:
topic: piper/joint_states
type: sensor_msgs/msg/JointState
type: actor_interface
middle_cam:
chain_elements:
link: gantry_mm
mode: camera
state_topic:
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:
topic: perception/piper_bimanual_perception/camera/arm_middle_cam/depth/image_rect_raw
type: sensor_msgs/msg/Image
type: perception_interface
ranger_twist:
action_topic:
topic: something
type: geometry_msgs/msg/Twist
mode: mobile
state_topic:
topic: something
type: geometry_msgs/msg/Twist
type: actor_interface
right_cam:
chain_elements:
link7: right_arm_link7
mode: camera
state_topic:
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:
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:
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:
topic: piper/joint_states
type: sensor_msgs/msg/JointState
type: actor_interface
start_episode:
event_topic:
topic: teleop_rod
type: teleop_interfaces/msg/MetaTeleopData
mode: discrete
type: event_interface
stop_episode:
event_topic:
topic: teleop_rod
type: teleop_interfaces/msg/MetaTeleopData
mode: discrete
type: event_interface
torso_joints:
action_topic:
topic: torso/joint_states
type: sensor_msgs/msg/JointState
chain_elements:
joint1: prismatic_1
mode: joint
state_topic:
topic: torso/joint_states
type: sensor_msgs/msg/JointState
type: actor_interface
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