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feat: keep RGB-D captures only on workstation

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meiqi
2026-08-10 17:14:44 +08:00
parent d02b99d2aa
commit 67c9b65768
15 changed files with 2817 additions and 154 deletions
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48
tg3_local_teleop/config.toml
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@@ -75,20 +75,17 @@ control_topic = "/tg3/data_collection/control"
status_topic = "/tg3/data_collection/status"
iarm_frame_topic = "/tg3/data_collection/iarm_frame"
base_directory = "/home/nvidia/tg3_data_collection"
# Failed/incomplete payloads are discarded after the error is reported through
# recorder status and journal. Completed READY episodes remain only until the
# PS sync has durably verified its local copy and requests exact-episode removal.
retain_failed_episodes = false
minimum_free_gib = 100.0
max_duration_seconds = 1800.0
# A camera endpoint merely existing is insufficient: completed episodes must
# also sustain this conservative average rate across the rosbag data span.
# The driver targets 30 Hz; 20 Hz tolerates startup/discovery jitter while
# rejecting a stream that only delivered a few frames or stopped mid-episode.
minimum_topic_rates_hz."/ob_camera_waist/color/image_raw/compressed" = 20.0
minimum_topic_rates_hz."/ob_camera_waist/depth/image_raw/compressedDepth" = 20.0
# Explicit data whitelist; never replace this with `-a` on the live robot.
# RGB is recorded through image_transport JPEG and 16UC1 depth through its
# lossless compressedDepth PNG transport. Waist RGB-D is required because that
# camera is enabled on this robot. Head RGB-D stays optional: rosbag discovers
# and records it automatically whenever orbbec_head.service is running.
# lossless compressedDepth PNG transport. Both RGB-D cameras are optional:
# rosbag discovers and records either one whenever its service is running.
# /robot_state is the authoritative measured robot state.
topics = [
"/robot_state",
@@ -137,18 +134,43 @@ required_topics = [
"/left_hand/motor_status",
"/right_hand/motor_status",
"/hric/robot/rl_state",
"/tg3/data_collection/control",
"/tg3/data_collection/status",
"/tg3/data_collection/iarm_frame",
]
# Optional sensor groups never block capture or core READY. Their message
# counts and whole-episode average rates are recorded in manifest.json as
# absent/healthy/partial/low_rate quality observations. The Orbbec driver
# targets 30 Hz; 20 Hz leaves room for discovery and compression jitter.
[data_collection.optional_topic_groups.head_rgbd]
topics = [
"/ob_camera_head/color/image_raw/compressed",
"/ob_camera_head/color/camera_info",
"/ob_camera_head/color/metadata",
"/ob_camera_head/depth/image_raw/compressedDepth",
"/ob_camera_head/depth/camera_info",
"/ob_camera_head/depth/metadata",
]
[data_collection.optional_topic_groups.head_rgbd.minimum_topic_rates_hz]
"/ob_camera_head/color/image_raw/compressed" = 20.0
"/ob_camera_head/depth/image_raw/compressedDepth" = 20.0
[data_collection.optional_topic_groups.waist_rgbd]
topics = [
"/ob_camera_waist/color/image_raw/compressed",
"/ob_camera_waist/color/camera_info",
"/ob_camera_waist/color/metadata",
"/ob_camera_waist/depth/image_raw/compressedDepth",
"/ob_camera_waist/depth/camera_info",
"/ob_camera_waist/depth/metadata",
"/tf_static",
"/tg3/data_collection/control",
"/tg3/data_collection/status",
"/tg3/data_collection/iarm_frame",
]
[data_collection.optional_topic_groups.waist_rgbd.minimum_topic_rates_hz]
"/ob_camera_waist/color/image_raw/compressed" = 20.0
"/ob_camera_waist/depth/image_raw/compressedDepth" = 20.0
[locomotion]
# The two original immediate bindings are independent: right C + left-stick
# vertical controls translation; left Z + right-stick horizontal controls