# ============================================================================ # Generic / Bimanual YAM + 3 RealSense (overhead + per-arm wrist) # ============================================================================ # Two independent YAM arms with three RealSense cameras (overhead environment # view + per-arm wrist). No neck. Fill in the fields below # before launch: # - system.license_key # - cameras[*].adapter.config.serial_number (3 RealSense serials) # - systems[arm].adapters[arm].connection.port (CAN interface per arm) # # Topic structure: # Global: /sentinel/xr/*, /sentinel/events, /sentinel/telemetry # Cameras: /sentinel/vision/output/{overhead,left_wrist,right_wrist}/encoded # Left arm: /yam_left/sentinel/* # Right arm: /yam_right/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: "overhead"} - {id: "right_wrist"} - {id: "left_wrist"} max_latency_ms: 100 # ============================================================================ # Analog Input Mapping (GLOBAL) # ============================================================================ # Joystick Y axes drive per-arm velocity scaling so the operator can throttle # motion live during teleop. 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: "/yam_left/sentinel/system/service/start_teleop" falling_edge: service: "/yam_left/sentinel/system/service/stop_teleop" right_grip_control: source: right_grip_control threshold: 0.5 rising_edge: service: "/yam_right/sentinel/system/service/start_teleop" falling_edge: service: "/yam_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 - 3 x RealSense: overhead + 2 wrist) # ============================================================================ cameras: - name: "overhead" adapter: plugin: "sentinel_vision_adapter_realsense::RealSenseCamera" config: serial_number: "" width: 640 height: 480 fps: 30 enable_depth: false enable_color: true align_to_color: false encoders: - name: "streaming" plugin: "sentinel_vision_encoder_gstreamer::GStreamerEncoder" topic: "encoded" qos: "streaming" config: encoding: "h264" width: 640 height: 480 framerate: 30 bitrate: 4000 hw_accel: "none" preset: "veryfast" tune: "zerolatency" rate_control: "cbr" profile: "main" gop_size: 2 bframes: 0 - name: "left_wrist" adapter: plugin: "sentinel_vision_adapter_realsense::RealSenseCamera" config: serial_number: "" width: 640 height: 480 fps: 30 enable_depth: false enable_color: true align_to_color: false encoders: - name: "streaming" plugin: "sentinel_vision_encoder_gstreamer::GStreamerEncoder" topic: "encoded" qos: "streaming" config: encoding: "h264" width: 640 height: 480 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_realsense::RealSenseCamera" config: serial_number: "" width: 640 height: 480 fps: 30 enable_depth: false enable_color: true align_to_color: false encoders: - name: "streaming" plugin: "sentinel_vision_encoder_gstreamer::GStreamerEncoder" topic: "encoded" qos: "streaming" config: encoding: "h264" width: 640 height: 480 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 # 1GB per MCAP file min_free_disk_bytes: 5368709120 # 5GB minimum free space fps: 30.0 topics: # Peripheral - /tf - /tf_static - /sentinel/events - /sentinel/xr/input/xr_input - /yam_left/sentinel/system/state/current - /yam_right/sentinel/system/state/current # State measurements - /yam_left/sentinel/robot/state/joint_states/measured - /yam_right/sentinel/robot/state/joint_states/measured - /yam_left/sentinel/robot/state/gripper_states/measured - /yam_right/sentinel/robot/state/gripper_states/measured # Commands - /yam_left/sentinel/control/commands/joint_safe - /yam_right/sentinel/control/commands/joint_safe - /yam_left/sentinel/control/commands/gripper - /yam_right/sentinel/control/commands/gripper # Video (encoded H.264) - /sentinel/vision/output/overhead/encoded - /sentinel/vision/output/left_wrist/encoded - /sentinel/vision/output/right_wrist/encoded # ============================================================================ # Robots Configuration # ============================================================================ systems: # -------------------------------------------------------------------------- # Robot 1: Left YAM Arm # -------------------------------------------------------------------------- - name: "YAM Left" namespace: "yam_left" serial: "YAM_LEFT" adapters: - id: "arm" plugin: "sentinel_adapter_yam::YamAdapter" urdf: "package://yam_description/urdf/yam.urdf" publish_rate_hz: 120.0 command_timeout_s: 0.5 connection: port: "" # e.g. "can0" / "can1" zero_gravity: false arm_kp: [80, 80, 80, 40, 10, 10] arm_kd: [5, 5, 5, 1.5, 1.5, 1.5] 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: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 q_min: [-2.61799, -0.01, -0.01, -1.5708, -1.5708, -2.0944] q_max: [3.13, 3.65, 3.13, 1.5708, 1.5708, 2.0944] 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: 1.3 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: "trigger" 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: 0.033 max_event_m: 0.07 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: [6.0, 6.0, 6.0, 8.0, 8.0, 10.0] 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 retargeting: mode: "toggle" laterality: "left" trigger_threshold: 0.5 close_threshold: 0.7 open_threshold: 0.3 toggle_debounce_s: 0.3 invert: true hardware: type: "linear_4310" speed: 50.0 force: 40.0 max_force: 50.0 kp: 0.5 kd: 0.3 safety: joint_limit_margin: 0.05 velocity_limit_scale: 0.9 emergency_stop_enabled: true max_torque: [50.0, 50.0, 50.0, 20.0, 20.0, 20.0] state_machine: initial_state: "DISARMED" joint_names: ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"] 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: 10.0 - 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 rviz_config: "package://yam_teleop_bringup/config/yam_dual_viz.rviz" base_frame_offset: x: 0.0 y: 0.2286 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0 # -------------------------------------------------------------------------- # Robot 2: Right YAM Arm # -------------------------------------------------------------------------- - name: "YAM Right" namespace: "yam_right" serial: "YAM_RIGHT" adapters: - id: "arm" plugin: "sentinel_adapter_yam::YamAdapter" urdf: "package://yam_description/urdf/yam.urdf" publish_rate_hz: 120.0 command_timeout_s: 0.5 connection: port: "" # e.g. "can0" / "can1" zero_gravity: false arm_kp: [80, 80, 80, 40, 10, 10] arm_kd: [5, 5, 5, 1.5, 1.5, 1.5] 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: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 q_min: [-2.61799, -0.01, -0.01, -1.5708, -1.5708, -2.0944] q_max: [3.13, 3.65, 3.13, 1.5708, 1.5708, 2.0944] 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: 1.3 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: "trigger" 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: 0.033 max_event_m: 0.07 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: [6.0, 6.0, 6.0, 8.0, 8.0, 10.0] 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 retargeting: mode: "toggle" laterality: "right" trigger_threshold: 0.5 close_threshold: 0.7 open_threshold: 0.3 toggle_debounce_s: 0.3 invert: true hardware: type: "linear_4310" speed: 50.0 force: 40.0 max_force: 50.0 kp: 0.5 kd: 0.3 safety: joint_limit_margin: 0.05 velocity_limit_scale: 0.9 emergency_stop_enabled: true max_torque: [50.0, 50.0, 50.0, 20.0, 20.0, 20.0] state_machine: initial_state: "DISARMED" joint_names: ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"] 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: 10.0 - 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 rviz_config: "package://yam_teleop_bringup/config/yam_dual_viz.rviz" base_frame_offset: x: 0.0 y: -0.2286 z: 0.0 roll: 0.0 pitch: 0.0 yaw: 0.0