# moonbot_teleop: differential-drive base.
# See stone.yaml for the annotated tour of the contract format.

robot_type: moonbot_teleop
robot_interface: ros2
fps: 30

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]]

  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]]

  # Concatenated from wheels + imu + odom (16 dims total), in order.
  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]

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]