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