feat: add session-gated TG3 data collection

tg3_local_teleop/config.toml

@@ -1,7 +1,7 @@
 [network]
 # Direct OmniSocket KCP input. No robot-side ZMQ receiving proxy is used.
 transport = "omnisocket"
-omnisocket_server = "175.178.116.187:14049"
+omnisocket_server = "192.168.5.14:14049"
 omnisocket_peer_id = "tg3-009027fa8190-robot"
 omnisocket_expected_sender = "tg3-009027fa8190-iarm"
 omnisocket_max_packet_age_ms = 300.0
@@ -55,6 +55,71 @@ joint_upper_rad = [
    2.8449,  0.1920,  2.8449,  0.1920,  2.8449,  1.3265,  1.3265,
 ]
 
+[data_collection]
+# Left joystick press (L3) is a dedicated raw xTELE field and is not registered
+# by the installed xTELE 0.1.2 button handlers.  It only toggles recording while
+# a validated teleoperation session is armed.  Z+C STOP/safety disarm always
+# ends an active recording without delaying robot control or Home.
+enabled = true
+button_hold_seconds = 1.0
+button_release_seconds = 0.5
+# This threshold qualifies only the L3 button edge; it is not a robot-motion
+# watchdog and does not restore the removed 0.25 s network disarm gate.
+button_input_timeout_s = 0.25
+control_retry_seconds = 0.5
+ack_timeout_seconds = 5.0
+heartbeat_interval_seconds = 0.5
+heartbeat_timeout_seconds = 3.0
+status_stale_seconds = 4.0
+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"
+minimum_free_gib = 20.0
+max_duration_seconds = 1800.0
+
+# Explicit control-data whitelist.  Camera images and point clouds are omitted
+# by default to bound disk and network load; never replace this with `-a` on the
+# live robot.  /robot_state is the authoritative measured robot state.
+topics = [
+  "/robot_state",
+  "/encoder_identical_joint",
+  "/arm/cmd",
+  "/freq_change/arm_status",
+  "/data_logger/arm_status",
+  "/left_hand/set_motor_multi",
+  "/right_hand/set_motor_multi",
+  "/left_hand/motor_status",
+  "/right_hand/motor_status",
+  "/left_hand/touch_status",
+  "/right_hand/touch_status",
+  "/hric/robot/cmd_vel",
+  "/hric/robot/cmd_vel_status",
+  "/hric/robot/rl_state",
+  "/imu_data",
+  "/power/board/key_status",
+  "/power/board/status",
+  "/power/battery/status",
+  "/tg3/data_collection/control",
+  "/tg3/data_collection/status",
+  "/tg3/data_collection/iarm_frame",
+]
+
+# Refuse a new episode if these core streams are absent from the live ROS
+# graph. Other whitelisted streams may appear later and rosbag discovery will
+# subscribe to them without restarting the recorder.
+required_topics = [
+  "/robot_state",
+  "/encoder_identical_joint",
+  "/freq_change/arm_status",
+  "/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",
+]
+
 [locomotion]
 # The two original immediate bindings are independent: right C + left-stick
 # vertical controls translation; left Z + right-stick horizontal controls