34 lines
930 B
YAML
34 lines
930 B
YAML
act_episode_recorder:
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ros__parameters:
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output_root: /home/robot/ACT_Data
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task_name: tomato_pick
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control_sample_topic: /xr_rm/right_rm75/act_control_sample
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right_controller_topic: /xr/right_controller
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left_controller_topic: /xr/left_controller
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status_topic: /act/recording_status
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cam_high_serial: "234222303366"
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cam_high_model: D455
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cam_right_wrist_serial: "412622272532"
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cam_right_wrist_model: D405
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image_width: 640
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image_height: 480
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camera_fps: 30
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camera_warmup_sec: 5.0
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control_rate_hz: 90.0
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sample_rate_hz: 30.0
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min_samples: 60
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max_samples: 1800
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min_control_hz: 27.0
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max_control_gap_ms: 100.0
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min_camera_fps: 27.0
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max_drop_ratio: 0.01
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max_feedback_age_ms: 50.0
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max_camera_age_ms: 50.0
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max_camera_skew_ms: 50.0
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min_free_space_gib: 4.0
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y_hold_sec: 1.0
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gripper_completion_timeout_sec: 3.0
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writer_queue_size: 8
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