# ============================================================================ # Generic / Bimanual Trossen + ZED Immersive (ZED neck SIDE_BY_SIDE + 2 ZED 2 Mini wrists) # ============================================================================ # Two independent Trossen WXAI arms with a pan/tilt XLERobot neck and three # ZED cameras: an immersive ZED stereo neck camera (SIDE_BY_SIDE) plus per-arm # ZED 2 Mini wrist cameras (LEFT view for workspace tracking). Fill in the # fields below before launch: # - system.license_key # - cameras[*_wrist].adapter.config.serial_number (2 ZED 2 Mini serials; neck auto-detected) # - systems[arm].adapters[arm].serv_ip (Trossen IP per arm) # - systems[neck].adapters[neck].neck.port (serial port for STS3215 motors) # # Topic structure: # Global: /sentinel/xr/*, /sentinel/events, /sentinel/telemetry # Cameras: /sentinel/vision/output/{neck,left_wrist,right_wrist}/encoded # Left arm: /trossen_left/sentinel/* # Right arm: /trossen_right/sentinel/* # Neck: /trossen_neck/sentinel/* # ============================================================================ # System Configuration # ============================================================================ system: license_key: "" enable_dataset_recording: true # ============================================================================ # Global Button Listener Configuration # ============================================================================ button_listener: debounce_duration: 0.5 # ============================================================================ # XR Configuration (GLOBAL - shared across all robots) # ============================================================================ xr: coordinate_system: "webxr" video: enabled: true mode: "pre_encoded" cameras: - {id: "neck"} - {id: "right_wrist"} - {id: "left_wrist"} max_latency_ms: 100 # ============================================================================ # Analog Input Mapping (GLOBAL) # ============================================================================ analog_inputs: left_joystick_y: left_velocity_scaling right_joystick_y: right_velocity_scaling left_grip: left_grip_control right_grip: right_grip_control left_trigger: left_gripper_control right_trigger: right_gripper_control # ============================================================================ # Button Configuration (GLOBAL) # ============================================================================ buttons: left_grip_control: source: left_grip_control threshold: 0.5 rising_edge: service: "/trossen_left/sentinel/system/service/start_teleop" falling_edge: service: "/trossen_left/sentinel/system/service/stop_teleop" right_grip_control: source: right_grip_control threshold: 0.5 rising_edge: service: "/trossen_right/sentinel/system/service/start_teleop" falling_edge: service: "/trossen_right/sentinel/system/service/stop_teleop" a_button: single_press: handler: "arm_and_start_all" params: arm_timeout_sec: 30.0 long_press: handler: "go_home_all" b_button: single_press: handler: "disarm_all" x_button: single_press: service: "/sentinel/dataset/service/toggle_episode" y_button: single_press: service: "/sentinel/dataset/service/fail_episode" # ============================================================================ # Cameras Configuration (GLOBAL - immersive ZED neck SIDE_BY_SIDE + 2 ZED 2 Mini wrists) # ============================================================================ cameras: - name: "neck" adapter: plugin: "sentinel_vision_adapter_zed::ZEDCamera" config: serial_number: 0 resolution: "HD720" fps: 60 depth_mode: "NONE" view_mode: "SIDE_BY_SIDE" enable_tracking: false encoders: - name: "streaming" plugin: "sentinel_vision_encoder_gstreamer::GStreamerEncoder" topic: "encoded" qos: "streaming" config: encoding: "h264" width: 2560 height: 720 framerate: 60 bitrate: 16000 hw_accel: "nvenc" preset: "ll" rate_control: "cbr" profile: "main" gop_size: 2 bframes: 0 - name: "left_wrist" adapter: plugin: "sentinel_vision_adapter_zed::ZEDCamera" config: serial_number: "" resolution: "HD720" fps: 30 depth_mode: "NONE" view_mode: "LEFT" enable_tracking: false encoders: - name: "streaming" plugin: "sentinel_vision_encoder_gstreamer::GStreamerEncoder" topic: "encoded" qos: "streaming" config: encoding: "h264" width: 1280 height: 720 framerate: 30 bitrate: 4000 hw_accel: "none" preset: "veryfast" tune: "zerolatency" rate_control: "cbr" profile: "main" gop_size: 2 bframes: 0 - name: "right_wrist" adapter: plugin: "sentinel_vision_adapter_zed::ZEDCamera" config: serial_number: "" resolution: "HD720" fps: 30 depth_mode: "NONE" view_mode: "LEFT" enable_tracking: false encoders: - name: "streaming" plugin: "sentinel_vision_encoder_gstreamer::GStreamerEncoder" topic: "encoded" qos: "streaming" config: encoding: "h264" width: 1280 height: 720 framerate: 30 bitrate: 4000 hw_accel: "none" preset: "veryfast" tune: "zerolatency" rate_control: "cbr" profile: "main" gop_size: 2 bframes: 0 # ============================================================================ # Dataset Recording Configuration (GLOBAL) # ============================================================================ dataset_recording: enabled: true output_dir: "/datasets" storage_format: "mcap" max_bag_size_bytes: 1073741824 min_free_disk_bytes: 5368709120 fps: 30.0 topics: # Peripheral - /tf - /tf_static - /sentinel/events - /sentinel/xr/input/xr_input - /trossen_left/sentinel/system/state/current - /trossen_right/sentinel/system/state/current # State measurements - /trossen_left/sentinel/robot/state/joint_states/measured - /trossen_right/sentinel/robot/state/joint_states/measured - /trossen_left/sentinel/robot/state/gripper_states/measured - /trossen_right/sentinel/robot/state/gripper_states/measured # Commands - /trossen_left/sentinel/control/commands/joint_safe - /trossen_right/sentinel/control/commands/joint_safe - /trossen_left/sentinel/control/commands/gripper - /trossen_right/sentinel/control/commands/gripper - /trossen_neck/sentinel/control/commands/neck # Video (encoded H.264) - /sentinel/vision/output/neck/encoded - /sentinel/vision/output/left_wrist/encoded - /sentinel/vision/output/right_wrist/encoded # ============================================================================ # Robots Configuration # ============================================================================ systems: # -------------------------------------------------------------------------- # Left arm # -------------------------------------------------------------------------- - name: "Trossen Left" namespace: "trossen_left" serial: "TROSSEN_LEFT" adapters: - id: "arm" plugin: "sentinel_adapter_trossen::TrossenAdapter" urdf: "package://trossen_arm_description/urdf/wxai_v0.urdf" publish_rate_hz: 100.0 command_timeout_s: 0.5 serv_ip: "" model: "wxai_v0" end_effector: "wxai_v0_base" hand: "left" timeout: 20.0 capabilities: - type: manipulator id: left_arm adapter_id: "arm" enabled: true posturing: enabled: false mode: "simple" weight: 0.0 chains: - id: arm base_link: "base_link" ee_link: "link_6" joints: - joint_0 - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 q_min: [-3.0543, 0.0, 0.0, -1.5708, -1.5708, -3.1416] q_max: [ 3.0543, 3.1416, 2.3562, 1.5708, 1.5708, 3.1416] q_nominal: [-0.003242542153047978, 0.015068284122987663, 0.007438773174639479, -0.06466010528725441, 0.003242542153047978, 0.022697795071335847] segments: upper_arm: 0.25 forearm: 0.25 retargeting: mode: "simple" enable_posture: false scale: 1.5 workspace_limits: min: [-0.4, -0.5, 0.1] max: [0.6, 0.5, 0.8] tracking_frames: primary: "controller_left" laterality: "left" control_button: "grip" coordinate_transform: [0, 0, 1, -1, 0, 0, 0, 1, 0] grip_threshold: 0.5 reanchor_on_grip: true motion_pipeline: filter: notch_hz: 7.3 notch_q: 8.0 lowpass_hz: 9.0 speed_gate: v_low: 0.015 v_high: 0.050 haptics: enabled: true min_event_m: 0.04 max_event_m: 0.1 time_constant_s: 0.2 event_rate_hz: 30.0 direction_axis_sign: [1, 1, -1] ik: solver_mode: "simple" solver: "casadi" max_iterations: 50 tolerance: 0.001 timeout_ms: 100.0 enable_posture: false weight_translational: 100.0 weight_rotational: 50.0 weight_regularization: 0.1 weight_smooth: 0.1 weight_manipulability: 0.0 trajectory: control_mode: "open_loop" max_velocity: [3.375, 3.375, 3.375, 7.0, 7.0, 7.0] max_acceleration: [8.0, 8.0, 8.0, 10.0, 10.0, 12.0] max_jerk: [20.0, 20.0, 20.0, 25.0, 25.0, 30.0] planning: interpolation_points: 100 execution_rate_hz: 60.0 planning_time_limit: 10.0 enable_viz: true joints_to_lock: [] - type: gripper id: gripper adapter_id: "arm" enabled: true parent_chain: arm chains: - id: gripper joints: - left_carriage_joint - right_carriage_joint hardware: min_position: -0.004 max_position: 0.030 retargeting: mode: "toggle" laterality: "left" control_button: "trigger" trigger_threshold: 0.25 close_threshold: 0.7 open_threshold: 0.3 toggle_debounce_s: 0.15 invert: true safety: joint_limit_margin: 0.05 velocity_limit_scale: 0.9 emergency_stop_enabled: true max_torque: [27.0, 27.0, 27.0, 7.0, 7.0, 7.0] state_machine: initial_state: "DISARMED" joint_names: ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5"] home_positions: [-0.003242542153047978, 0.015068284122987663, 0.007438773174639479, -0.06466010528725441, 0.003242542153047978, 0.022697795071335847] start_positions: [-0.003242542153047978, 0.5556191348134583, 0.6071183337148085, -0.09899290455481768, 0.0005722133211261138, 0.02193484397650103] motion: action_server_wait_timeout: 5.0 goal_acceptance_timeout: 2.0 motion_duration: 3.0 calibration_timeout_s: 10.0 skeleton_validation: enabled: true min_confidence: 0.5 require_full_body: false min_bone_length_m: 0.05 orchestration: on_arm: - node: "robot_adapter_" transition: "configure" timeout: 30.0 # covers 20s Trossen connection timeout - node: "trajectory_smoother_" transition: "configure" timeout: 10.0 - node: "safety_" transition: "configure" timeout: 10.0 - node: "arm_retargeter_" transition: "configure" timeout: 10.0 - node: "gripper_retargeter_" transition: "configure" timeout: 10.0 - node: "ik_solver_" transition: "configure" timeout: 10.0 - node: "ompl_joint_planner_" transition: "configure" timeout: 10.0 - node: "haptic_feedback_" transition: "configure" timeout: 10.0 - node: "robot_adapter_" transition: "activate" timeout: 5.0 - node: "safety_" transition: "activate" timeout: 5.0 - node: "trajectory_smoother_" transition: "activate" timeout: 5.0 - node: "haptic_feedback_" transition: "activate" timeout: 5.0 - node: "gripper_retargeter_" transition: "activate" timeout: 5.0 on_start_teleop: - node: "ik_solver_" transition: "activate" timeout: 5.0 - node: "arm_retargeter_" transition: "activate" timeout: 5.0 on_stop_teleop: - node: "arm_retargeter_" transition: "deactivate" timeout: 5.0 - node: "ik_solver_" transition: "deactivate" timeout: 5.0 on_go_home: - node: "ompl_joint_planner_" transition: "activate" timeout: 5.0 on_go_home_complete: - node: "ompl_joint_planner_" transition: "deactivate" timeout: 5.0 on_go_to_start: - node: "ompl_joint_planner_" transition: "activate" timeout: 5.0 on_go_to_start_complete: - node: "ompl_joint_planner_" transition: "deactivate" timeout: 5.0 visualization: enable_markers: true publish_xr_to_tf: true base_frame_offset: x: 0.0 y: 0.2286 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 # -------------------------------------------------------------------------- # Right arm # -------------------------------------------------------------------------- - name: "Trossen Right" namespace: "trossen_right" serial: "TROSSEN_RIGHT" adapters: - id: "arm" plugin: "sentinel_adapter_trossen::TrossenAdapter" urdf: "package://trossen_arm_description/urdf/wxai_v0.urdf" publish_rate_hz: 100.0 command_timeout_s: 0.5 serv_ip: "" model: "wxai_v0" end_effector: "wxai_v0_base" hand: "right" timeout: 20.0 capabilities: - type: manipulator id: right_arm adapter_id: "arm" enabled: true posturing: enabled: false mode: "simple" weight: 0.0 chains: - id: arm base_link: "base_link" ee_link: "link_6" joints: - joint_0 - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 q_min: [-3.0543, 0.0, 0.0, -1.5708, -1.5708, -3.1416] q_max: [ 3.0543, 3.1416, 2.3562, 1.5708, 1.5708, 3.1416] q_nominal: [-0.003242542153047978, 0.015068284122987663, 0.007438773174639479, -0.06466010528725441, 0.003242542153047978, 0.022697795071335847] segments: upper_arm: 0.25 forearm: 0.25 retargeting: mode: "simple" enable_posture: false scale: 1.5 workspace_limits: min: [-0.4, -0.5, 0.1] max: [0.6, 0.5, 0.8] tracking_frames: primary: "controller_right" laterality: "right" control_button: "grip" coordinate_transform: [0, 0, 1, -1, 0, 0, 0, 1, 0] grip_threshold: 0.5 reanchor_on_grip: true motion_pipeline: filter: notch_hz: 7.3 notch_q: 8.0 lowpass_hz: 9.0 speed_gate: v_low: 0.015 v_high: 0.050 haptics: enabled: true min_event_m: 0.04 max_event_m: 0.1 time_constant_s: 0.2 event_rate_hz: 30.0 direction_axis_sign: [1, 1, -1] ik: solver_mode: "simple" solver: "casadi" max_iterations: 50 tolerance: 0.001 timeout_ms: 100.0 enable_posture: false weight_translational: 100.0 weight_rotational: 50.0 weight_regularization: 0.1 weight_smooth: 0.1 weight_manipulability: 0.0 trajectory: control_mode: "open_loop" max_velocity: [3.375, 3.375, 3.375, 7.0, 7.0, 7.0] max_acceleration: [8.0, 8.0, 8.0, 10.0, 10.0, 12.0] max_jerk: [20.0, 20.0, 20.0, 25.0, 25.0, 30.0] planning: interpolation_points: 100 execution_rate_hz: 60.0 planning_time_limit: 10.0 enable_viz: true joints_to_lock: [] - type: gripper id: gripper adapter_id: "arm" enabled: true parent_chain: arm chains: - id: gripper joints: - left_carriage_joint - right_carriage_joint hardware: min_position: -0.004 max_position: 0.030 retargeting: mode: "toggle" laterality: "right" control_button: "trigger" trigger_threshold: 0.25 close_threshold: 0.7 open_threshold: 0.3 toggle_debounce_s: 0.15 invert: true safety: joint_limit_margin: 0.05 velocity_limit_scale: 0.9 emergency_stop_enabled: true max_torque: [27.0, 27.0, 27.0, 7.0, 7.0, 7.0] state_machine: initial_state: "DISARMED" joint_names: ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5"] home_positions: [-0.003242542153047978, 0.015068284122987663, 0.007438773174639479, -0.06466010528725441, 0.003242542153047978, 0.022697795071335847] start_positions: [-0.003242542153047978, 0.5556191348134583, 0.6071183337148085, -0.09899290455481768, 0.0005722133211261138, 0.02193484397650103] motion: action_server_wait_timeout: 5.0 goal_acceptance_timeout: 2.0 motion_duration: 3.0 calibration_timeout_s: 10.0 skeleton_validation: enabled: true min_confidence: 0.5 require_full_body: false min_bone_length_m: 0.05 orchestration: on_arm: - node: "robot_adapter_" transition: "configure" timeout: 30.0 - node: "trajectory_smoother_" transition: "configure" timeout: 10.0 - node: "safety_" transition: "configure" timeout: 10.0 - node: "arm_retargeter_" transition: "configure" timeout: 10.0 - node: "gripper_retargeter_" transition: "configure" timeout: 10.0 - node: "ik_solver_" transition: "configure" timeout: 10.0 - node: "ompl_joint_planner_" transition: "configure" timeout: 10.0 - node: "haptic_feedback_" transition: "configure" timeout: 10.0 - node: "robot_adapter_" transition: "activate" timeout: 5.0 - node: "safety_" transition: "activate" timeout: 5.0 - node: "trajectory_smoother_" transition: "activate" timeout: 5.0 - node: "haptic_feedback_" transition: "activate" timeout: 5.0 - node: "gripper_retargeter_" transition: "activate" timeout: 5.0 on_start_teleop: - node: "ik_solver_" transition: "activate" timeout: 5.0 - node: "arm_retargeter_" transition: "activate" timeout: 5.0 on_stop_teleop: - node: "arm_retargeter_" transition: "deactivate" timeout: 5.0 - node: "ik_solver_" transition: "deactivate" timeout: 5.0 on_go_home: - node: "ompl_joint_planner_" transition: "activate" timeout: 5.0 on_go_home_complete: - node: "ompl_joint_planner_" transition: "deactivate" timeout: 5.0 on_go_to_start: - node: "ompl_joint_planner_" transition: "activate" timeout: 5.0 on_go_to_start_complete: - node: "ompl_joint_planner_" transition: "deactivate" timeout: 5.0 visualization: enable_markers: true publish_xr_to_tf: true base_frame_offset: x: 0.0 y: -0.2286 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 # -------------------------------------------------------------------------- # Neck — standalone XLERobot pan/tilt driven by HMD pose # -------------------------------------------------------------------------- - name: "Trossen Neck" namespace: "trossen_neck" serial: "TROSSEN_NECK" adapters: - id: "neck" plugin: "sentinel_adapter_xlerobot_neck::XLERobotNeckAdapter" publish_rate_hz: 30.0 neck: port: "" # e.g. "/dev/ttyACM0" baudrate: 1000000 backend: "feetech" motor_model: "sts3215" yaw_id: 2 pitch_id: 1 calibration_file: "/config/neck_calibration.json" disable_torque_on_disconnect: true capabilities: - type: pose_neck id: neck adapter_id: "neck" enabled: true invert_yaw: true invert_pitch: true command_rate_hz: 30.0 smoothing_enabled: true smoothing_alpha: 0.5 state_machine: initial_state: "DISARMED" joint_names: [] home_positions: [] start_positions: [] motion: action_server_wait_timeout: 5.0 goal_acceptance_timeout: 2.0 motion_duration: 1.0 calibration_timeout_s: 10.0 orchestration: on_arm: - node: "robot_adapter_" transition: "configure" timeout: 10.0 - node: "neck_retargeter_" transition: "configure" timeout: 10.0 - node: "robot_adapter_" transition: "activate" timeout: 10.0 - node: "neck_retargeter_" transition: "activate" timeout: 5.0 on_start_teleop: [] on_stop_teleop: []