meta/pipeline_config.json

{
  "include_joint_positions": false,
  "include_joint_velocities": false,
  "include_joint_efforts": false,
  "include_tcp_poses": true,
  "include_last_command": false,
  "include_rgb_images": true,
  "include_depth_images": false,
  "image_resolution": [
    256,
    256
  ],
  "depth_scale_factor": 1000.0,
  "action_level": "delta_tcp",
  "left_gripper": "panda",
  "right_gripper": "panda",
  "termination_horizon_seconds": 0.5,
  "task_name": "Pack lego bees",
  "max_pause_seconds": 0.2,
  "pause_velocity": 0.03,
  "save_pauses": false,
  "gripper_active_speed": 0.05,
  "boost_factor": 1,
  "grace_period_seconds": 0.2,
  "save_normal": false,
  "recording_fps": 30,
  "target_fps": 10,
  "subsample_offset": 0,
  "min_episode_seconds": 8,
  "episodes_dir": "/home/pw/pokeandwiggle-adrian/data/raw/7_lego-set-2/anonymous",
  "additional_dirs": "",
  "output": "/home/pw/pokeandwiggle-adrian/data/raw/lerobot/pack_lego_bees"
}