278 lines
11 KiB
TOML
278 lines
11 KiB
TOML
[network]
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# Direct OmniSocket KCP input. No robot-side ZMQ receiving proxy is used.
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transport = "omnisocket"
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omnisocket_server = "192.168.5.14:14049"
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omnisocket_peer_id = "tg3-009027fa8190-robot"
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omnisocket_expected_sender = "tg3-009027fa8190-iarm"
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omnisocket_max_packet_age_ms = 300.0
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# The deployed OmniSocket receiver does not exchange a Hub heartbeat while idle.
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# Re-register periodically with make-before-break so a Hub restart cannot leave
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# a false connected state and healthy refreshes never create a routing gap.
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# Active traffic resets this timer and is never interrupted by this refresh.
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omnisocket_idle_session_refresh_s = 30.0
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# The native session can remain blocked on an old connection after the public
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# Hub disappears. An active session that receives no business frame for this
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# interval exits so systemd creates a completely fresh session.
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omnisocket_restart_after_stale_s = 2.0
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# Retained only as a direct-LAN fallback when transport is changed to "zmq".
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iarm_endpoint = "tcp://192.168.5.14:5003"
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expected_iarm_id = "IArm009027FA8190"
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expected_iarm_type = "TS1P"
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minimum_arm_frequency_hz = 30.0
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[ros]
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command_topic = "/encoder_identical_joint"
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rl_state_topic = "/hric/robot/rl_state"
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arm_state_topic = "/freq_change/arm_status"
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home_service = "/tg3_local_teleop/return_home"
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cancel_home_service = "/tg3_local_teleop/cancel_home"
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publish_rate_hz = 50.0
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[robot]
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required_state = "HBWALK"
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required_status = "running"
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state_timeout_s = 1.0
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arm_state_timeout_s = 0.25
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[control]
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# OmniSocket start/stop is timed on EAI before any business frame is sent.
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# This value remains for the direct-ZMQ fallback latch.
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auto_home_on_stop = true
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start_stop_hold_seconds = 3.0
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max_slew_rad_s = 1.0
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# This custom margin is checked only when teleoperation starts. It is not
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# checked while collecting/following. Vendor limit protection is unchanged.
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joint_limit_margin_rad = 0.03
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# Joint order: left 11..17, then right 21..27. Values are the TG3.0 limits
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# from the supplied 26.04.x SDK document, expressed in radians.
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joint_lower_rad = [
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-2.8449, -0.1920, -2.8449, -2.5482, -2.8449, -1.3265, -1.3265,
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-2.8449, -3.3336, -2.8449, -2.5482, -2.8449, -1.3265, -1.3265,
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]
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joint_upper_rad = [
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2.8449, 3.3336, 2.8449, 0.1920, 2.8449, 1.3265, 1.3265,
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2.8449, 0.1920, 2.8449, 0.1920, 2.8449, 1.3265, 1.3265,
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]
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[data_collection]
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# Left joystick press (L3) is a dedicated raw xTELE field and is not registered
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# by the installed xTELE 0.1.2 button handlers. It only toggles recording while
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# a validated teleoperation session is armed. Z+C STOP/safety disarm always
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# ends an active recording without delaying robot control or Home.
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enabled = true
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button_hold_seconds = 1.0
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button_release_seconds = 0.5
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# This threshold qualifies only the L3 button edge; it is not a robot-motion
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# watchdog and does not restore the removed 0.25 s network disarm gate.
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button_input_timeout_s = 0.25
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control_retry_seconds = 0.5
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ack_timeout_seconds = 5.0
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heartbeat_interval_seconds = 0.5
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heartbeat_timeout_seconds = 3.0
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status_stale_seconds = 4.0
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control_topic = "/tg3/data_collection/control"
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status_topic = "/tg3/data_collection/status"
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iarm_frame_topic = "/tg3/data_collection/iarm_frame"
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base_directory = "/home/nvidia/tg3_data_collection"
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# Failed/incomplete payloads are discarded after the error is reported through
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# recorder status and journal. Completed READY episodes remain only until the
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# PS sync has durably verified its local copy and requests exact-episode removal.
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retain_failed_episodes = false
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minimum_free_gib = 100.0
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max_duration_seconds = 1800.0
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# Explicit data whitelist; never replace this with `-a` on the live robot.
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# RGB is recorded through image_transport JPEG and 16UC1 depth through its
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# lossless compressedDepth PNG transport. Only the head RGB-D camera is in the
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# whitelist. It is optional and is discovered whenever its service is running.
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# /robot_state is the authoritative measured robot state.
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topics = [
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"/robot_state",
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"/encoder_identical_joint",
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"/arm/cmd",
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"/freq_change/arm_status",
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"/data_logger/arm_status",
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"/left_hand/set_motor_multi",
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"/right_hand/set_motor_multi",
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"/left_hand/motor_status",
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"/right_hand/motor_status",
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"/left_hand/touch_status",
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"/right_hand/touch_status",
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"/hric/robot/cmd_vel",
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"/hric/robot/cmd_vel_status",
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"/hric/robot/rl_state",
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"/head/cmd",
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"/imu_data",
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"/power/board/key_status",
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"/power/board/status",
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"/power/battery/status",
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"/ob_camera_head/color/image_raw/compressed",
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"/ob_camera_head/color/camera_info",
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"/ob_camera_head/color/metadata",
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"/ob_camera_head/depth/image_raw/compressedDepth",
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"/ob_camera_head/depth/camera_info",
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"/ob_camera_head/depth/metadata",
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"/tf_static",
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"/tg3/data_collection/control",
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"/tg3/data_collection/status",
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"/tg3/data_collection/iarm_frame",
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]
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# Refuse a new episode if these core streams are absent from the live ROS
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# graph. Other whitelisted streams may appear later and rosbag discovery will
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# subscribe to them without restarting the recorder.
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required_topics = [
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"/robot_state",
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"/encoder_identical_joint",
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"/freq_change/arm_status",
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"/left_hand/motor_status",
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"/right_hand/motor_status",
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"/hric/robot/rl_state",
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"/tg3/data_collection/control",
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"/tg3/data_collection/status",
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"/tg3/data_collection/iarm_frame",
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]
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# Optional sensor groups never block capture or core READY. Their message
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# counts and whole-episode average rates are recorded in manifest.json as
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# absent/healthy/partial/low_rate quality observations. The Orbbec driver
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# targets 30 Hz; 20 Hz leaves room for discovery and compression jitter.
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[data_collection.optional_topic_groups.head_rgbd]
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topics = [
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"/ob_camera_head/color/image_raw/compressed",
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"/ob_camera_head/color/camera_info",
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"/ob_camera_head/color/metadata",
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"/ob_camera_head/depth/image_raw/compressedDepth",
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"/ob_camera_head/depth/camera_info",
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"/ob_camera_head/depth/metadata",
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]
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[data_collection.optional_topic_groups.head_rgbd.minimum_topic_rates_hz]
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"/ob_camera_head/color/image_raw/compressed" = 20.0
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"/ob_camera_head/depth/image_raw/compressedDepth" = 20.0
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[locomotion]
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# Once Z+C has armed teleoperation and both sticks have been observed neutral,
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# left-stick vertical directly controls translation and right-stick horizontal
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# directly controls in-place yaw. No locomotion button or second hold is used.
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enabled = true
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command_topic = "/hric/robot/cmd_vel"
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# This bridge never publishes FSM commands. The robot must already report
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# HBWALK/running through the existing safety gate before velocity is allowed.
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# Match the TG3 secondary-development TwistStamped example.
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frame_id = "pelvis"
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joystick_deadzone = 0.2
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joystick_expo = 2.0
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# Turning is linear after the deadzone so medium right-stick travel is not
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# suppressed by the quadratic forward-motion curve. The official yaw cap is
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# unchanged.
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yaw_joystick_expo = 1.0
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# TianGong secondary-development /cmd_vel limits for full/half-body walking:
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# linear.x [-0.8, +1.0] m/s and angular.z [-0.8, +0.8] rad/s.
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max_forward_m_s = 1.0
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max_reverse_m_s = 0.8
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max_angular_rad_s = 0.8
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forward_axis_sign = 1.0
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yaw_axis_sign = -1.0
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zero_burst_frames = 10
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[head]
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# Camera-pitch mode: after Z+C arms teleoperation and the right-stick vertical
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# axis has been observed neutral once, hold left Z while pushing the right stick
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# up/down. While Z is held, right-stick yaw is suppressed so camera adjustment
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# cannot accidentally turn the robot. No R3 is used.
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enabled = true
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command_topic = "/head/cmd"
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state_topic = "/robot_state"
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pitch_motor_id = 2
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frame_id = "head"
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mode = 0
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label = 151
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max_current_a = 1.0
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command_speed_rad_s = 0.2
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# Documented mechanical range is -15..+58 deg. Keep the commissioned visual
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# working range at -10..+50 deg and always start from fresh measured feedback.
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min_pitch_rad = -0.1745329252
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max_pitch_rad = 0.872664626
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max_pitch_speed_rad_s = 0.2
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max_pitch_accel_rad_s2 = 0.5
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pitch_axis_sign = -1.0
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joystick_deadzone = 0.1
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max_integration_dt_s = 0.1
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input_timeout_s = 0.3
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feedback_timeout_s = 0.25
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# Existing vendor nodes advertise /head/cmd publishers. They are allowed when
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# idle, but any actual foreign message leases head control for this interval;
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# our bridge resumes only after quiet plus another neutral-stick observation.
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foreign_command_quiet_s = 1.0
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self_command_window_s = 0.25
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[hands]
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# TianGong 3.0 on this robot uses BrainCo Revo2 hands. Commands are published
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# only while the same physical 3-second teleoperation latch is armed.
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enabled = true
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left_command_topic = "/left_hand/set_motor_multi"
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right_command_topic = "/right_hand/set_motor_multi"
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left_status_topic = "/left_hand/motor_status"
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right_status_topic = "/right_hand/motor_status"
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status_timeout_s = 0.25
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# Vendor robot_tele_server uses mode 5 and an 800 ms expected duration.
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mode = 5
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duration_ms = 800
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position_min = 1
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position_max = 1000
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# Commissioning limit: no commanded motor may change faster than 400/1000 of
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# its full stroke per second. The driver keeps its own current/stall protection.
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slew_units_per_s = 400.0
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invert_scalar = false
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# Scalar hand.position=0 is the robot's measured default-open pose. The closed
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# endpoint is the conservative BrainCoRevo2 "normal" grasp from the installed
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# xTELE GestureController.
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# Order: thumb bend, thumb rotation, index, middle, ring, little.
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open_normalized = [0.4, 0.4, 0.05, 0.05, 0.05, 0.05]
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closed_normalized = [0.9, 0.5, 0.45, 0.52, 0.52, 0.45]
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# Right B owns a robot-side, release-guarded bilateral pointing gesture while
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# a teleop session is armed. Both activation and deactivation require one continuous
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# 1-second hold, separated by at least 0.5 seconds of stable release. A new
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# session is always release-locked. The pose is xTELE GestureController's
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# BrainCoRevo2 gesture 2 ("single index finger"), state 0, in motor order:
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# thumb bend, thumb rotation, index, middle, ring, little.
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right_b_point_gesture_enabled = true
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right_b_point_gesture_hold_seconds = 1.0
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right_b_point_gesture_release_seconds = 0.5
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right_b_point_pose_normalized = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
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# Right A is a momentary, robot-side pose: hold A to move the right hand to
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# this measured BrainCo MotorStatus position and release A to resume the
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# existing right-hand input (or an active right-B gesture). A new teleop
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# session must first observe A released for 0.5 seconds. The normal hand slew
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# limit remains in force; these are raw driver positions, not normalized data.
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right_a_pose_enabled = true
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right_a_pose_release_seconds = 0.5
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right_a_pose_positions = [428, 735, 500, 77, 77, 72]
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[home]
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# Deliberately slower than manual teleoperation. This Home pose was captured
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# from the robot's real arm feedback on 2026-08-06. Joint order is 11..17,
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# followed by 21..27; values are radians. Home is not the motor-zero pose.
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slew_rad_s = 0.25
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joint_goal_rad = [
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0.1842578799, 0.1234146282, 0.0396494754, -0.4828015864,
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-0.0024294013, 0.0065013529, -0.0040423824,
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0.1721130311, -0.1383204311, -0.0142812012, -0.3408825397,
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0.0026911981, 0.0039934102, -0.0030838961,
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]
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# Abort if the commanded trajectory gets more than ~4.6 degrees ahead of
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# measured robot motion.
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max_tracking_error_rad = 0.08
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command_tolerance_rad = 0.005
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actual_tolerance_rad = 0.03
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settle_s = 1.0
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timeout_s = 30.0
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