feat: 接入番茄采摘ACT采集启动项

2026-08-10 18:24:02 +08:00
parent 6008e34b5d
commit 6982620041
3 changed files with 98 additions and 0 deletions
@@ -0,0 +1,33 @@
+act_episode_recorder:
+  ros__parameters:
+    output_root: /home/robot/ACT_Data
+    task_name: tomato_pick
+    control_sample_topic: /xr_rm/right_rm75/act_control_sample
+    right_controller_topic: /xr/right_controller
+    left_controller_topic: /xr/left_controller
+    status_topic: /act/recording_status
+
+    cam_high_serial: "234222303366"
+    cam_high_model: D455
+    cam_right_wrist_serial: "412622272532"
+    cam_right_wrist_model: D405
+    image_width: 640
+    image_height: 480
+    camera_fps: 30
+    camera_warmup_sec: 5.0
+
+    control_rate_hz: 90.0
+    sample_rate_hz: 30.0
+    min_samples: 60
+    max_samples: 1800
+    min_control_hz: 27.0
+    max_control_gap_ms: 100.0
+    min_camera_fps: 27.0
+    max_drop_ratio: 0.01
+    max_feedback_age_ms: 50.0
+    max_camera_age_ms: 50.0
+    max_camera_skew_ms: 50.0
+    min_free_space_gib: 4.0
+    y_hold_sec: 1.0
+    gripper_completion_timeout_sec: 3.0
+    writer_queue_size: 8