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{
"include_joint_positions": true,
"include_joint_velocities": false,
"include_joint_efforts": false,
"include_tcp_poses": true,
"include_last_command": true,
"include_rgb_images": true,
"include_depth_images": true,
"image_resolution": [
512,
512
],
"depth_scale_factor": 1000.0,
"action_level": "tcp",
"left_gripper": "panda",
"right_gripper": "panda",
"task_name": "debug_data",
"max_pause_seconds": 600,
"pause_velocity": -1,
"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": 1
} |