Configuring a rig | Docs

A rig file tells the engine what to read, how fast, and how the devices relate in space and time. Keep one file per physical rig under version control; every run records a copy of the file it used.

Example

rig.toml

[rig]
name = "lab-2-bimanual"
base_frame = "base_link"
clock = "ptp"                 # "ptp", "trigger" or "host"

[[camera]]
name = "front"
driver = "ros2:/front/camera"
streams = ["rgb", "depth"]
fps = 30
resolution = [640, 480]

[[camera]]
name = "wrist_left"
driver = "ros2:/left/wrist_camera"
streams = ["rgb"]
fps = 50
mount = "left_arm/tool0"      # the camera moves with this link

[[joints]]
name = "left_arm"
source = "ros2:/left/joint_states"
rate_hz = 200

[[joints]]
name = "left_gripper"
source = "ros2:/left/gripper/state"
rate_hz = 100

[episodes]
split_on = "key"              # "key", "gripper" or "idle"
idle_seconds = 4

[storage]
path = "/data/runs"
reserve_gb = 50               # stop cleanly before the disk fills

Keys

Key	Meaning
`rig.base_frame`	The frame all cameras and point clouds are expressed in
`rig.clock`	How devices share time: `ptp`, `trigger` (common hardware trigger) or `host`
`camera.driver`	`ros2:<namespace>` to read a camera published on ROS 2; native drivers are confirmed with each preview team
`camera.streams`	Any of `rgb`, `depth`, `ir`
`camera.mount`	Link the camera is attached to; omit for static cameras
`joints.source`	`ros2:<topic>`; native vendor drivers are confirmed with each preview team
`episodes.split_on`	End episodes on a key press, on gripper open after a close, or after idle time
`storage.reserve_gb`	Free space the engine keeps; capture stops cleanly before crossing it

Check a rig before recording

Shell

rayform rig check rig.toml          # devices found, rates, clocks
rayform capture --rig rig.toml --bench --seconds 60

The bench run captures without saving and reports sustained rates, drops and back-pressure per device.