| { |
| "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": "", |
| "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": "data/stack_daytime", |
| "output": "data/stack_daytime_lerobot" |
| } |