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| robot_type: moonbot_teleop |
| robot_interface: ros2 |
| fps: 30 |
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| observations: |
| observation.images.front: |
| channel: {topic: /body/camera/color/image_raw, |
| type: sensor_msgs/msg/Image, |
| qos: {reliability: best_effort, history: keep_last, depth: 10}} |
| align: {strategy: hold, timeline: header} |
| apply: [resize: [480, 640]] |
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|
| observation.images.eef: |
| channel: {topic: /eef/camera/color/image_raw, |
| type: sensor_msgs/msg/Image, |
| qos: {reliability: best_effort, history: keep_last, depth: 10}} |
| align: {strategy: hold, timeline: header} |
| apply: [resize: [480, 640]] |
|
|
| observation.images.right: |
| channel: {topic: /right/camera/color/image_raw, |
| type: sensor_msgs/msg/Image, |
| qos: {reliability: best_effort, history: keep_last, depth: 10}} |
| align: {strategy: hold, timeline: header} |
| apply: [resize: [480, 640]] |
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| |
| observation.state: |
| - channel: {topic: /leg302/joint_read, |
| type: sensor_msgs/msg/JointState, |
| qos: {reliability: best_effort, history: keep_last, depth: 50}} |
| align: {strategy: hold, timeline: header} |
| select: [position.leg302_joint1, position.leg302_joint2, position.leg302_joint3, position.leg302_joint4, position.leg302_joint5, position.leg302_joint6, position.leg302_joint7, position.leg302_grip2] |
| - channel: {topic: /leg302/tip_pos, |
| type: geometry_msgs/msg/Transform, |
| decoder: "rosetta.examples.moonbot_codecs:decode_transform", |
| qos: {reliability: best_effort, history: keep_last, depth: 50}} |
| align: {strategy: hold, timeline: receive} |
| select: [translation.x, translation.y, translation.z, rotation.x, rotation.y, rotation.z, rotation.w] |
| - channel: {topic: /F_ee, |
| type: geometry_msgs/msg/WrenchStamped, |
| decoder: "rosetta.examples.moonbot_codecs:decode_wrench_stamped", |
| qos: {reliability: best_effort, history: keep_last, depth: 50}} |
| align: {strategy: hold, timeline: header} |
| select: [wrench.force.x, wrench.force.y, wrench.force.z, wrench.torque.x, wrench.torque.y, wrench.torque.z] |
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| actions: |
| action: |
| channel: {topic: /leg302/joint_set_teleop, type: sensor_msgs/msg/JointState, |
| qos: {reliability: reliable, history: keep_last, depth: 10}, |
| safety: hold} |
| align: {strategy: hold, timeline: header} |
| select: [position.leg302_joint1, position.leg302_joint2, position.leg302_joint3, position.leg302_joint4, position.leg302_joint5, position.leg302_joint6, position.leg302_joint7, position.leg302_grip2] |
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