collections:
  events:
    event_interfaces:
    - negative_reward_event
    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:
      _interface_name: left_cam
      ideal-frequency: '60.00'
      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:
      ideal-frequency: -1
      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:
      _interface_name: left_joints
      ideal-frequency: '60.00'
      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:
      _interface_name: left_joints
      ideal-frequency: '100.00'
      topic: piper/joint_states
      type: sensor_msgs/msg/JointState
    type: actor_interface
  middle_cam:
    chain_elements:
      link: gantry_mm
    mode: camera
    state_topic:
      _interface_name: middle_cam
      ideal-frequency: '60.00'
      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:
      ideal-frequency: '60.00'
      topic: perception/piper_bimanual_perception/camera/arm_middle_cam/depth/image_rect_raw
      type: sensor_msgs/msg/Image
    type: perception_interface
  negative_reward_event:
    event_topic:
      _interface_name: negative_reward_event
      ideal-frequency: -1
      topic: teleop_rod
      type: teleop_interfaces/msg/MetaTeleopData
    mode: continuous
    type: event_interface
  positive_reward_event:
    event_topic:
      ideal-frequency: -1
      topic: teleop_rod
      type: teleop_interfaces/msg/MetaTeleopData
    mode: continuous
    type: event_interface
  ranger_twist:
    action_topic:
      ideal-frequency: -1
      topic: something
      type: geometry_msgs/msg/Twist
    mode: mobile
    state_topic:
      ideal-frequency: -1
      topic: something
      type: geometry_msgs/msg/Twist
    type: actor_interface
  right_cam:
    chain_elements:
      link7: right_arm_link7
    mode: camera
    state_topic:
      _interface_name: right_cam
      ideal-frequency: '60.00'
      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:
      ideal-frequency: '60.00'
      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:
      _interface_name: right_joints
      ideal-frequency: '60.00'
      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:
      _interface_name: right_joints
      ideal-frequency: '100.00'
      topic: piper/joint_states
      type: sensor_msgs/msg/JointState
    type: actor_interface
  start_episode:
    event_topic:
      ideal-frequency: -1
      topic: teleop_rod
      type: teleop_interfaces/msg/MetaTeleopData
    mode: discrete
    type: event_interface
  stop_episode:
    event_topic:
      ideal-frequency: -1
      topic: teleop_rod
      type: teleop_interfaces/msg/MetaTeleopData
    mode: discrete
    type: event_interface
  torso_joints:
    action_topic:
      ideal-frequency: '1.00'
      topic: torso/joint_states
      type: sensor_msgs/msg/JointState
    chain_elements:
      joint1: prismatic_1
    mode: joint
    state_topic:
      ideal-frequency: '1.00'
      topic: torso/joint_states
      type: sensor_msgs/msg/JointState
    type: actor_interface