37 lines
1.3 KiB
Markdown
37 lines
1.3 KiB
Markdown
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```yml
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task_name: ... # Task name
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render_freq: 0 # Rendering window frequency, set to 0 to disable rendering window
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use_seed: false # Whether to use an existing seed list for data collection
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collect_data: true # Whether data collection is required
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save_path: ./data # Data save path
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dual_arm: true # Whether it is a dual-arm task
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st_episode: 0 # Starting episode number for data collection
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camera_w: 320 # Camera width and height
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camera_h: 240
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pcd_crop: true # Whether to crop the point cloud to the table
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pcd_down_sample_num: 1024 # Point cloud downsampling
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episode_num: 100 # Number of episodes to collect
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save_freq: 15 # Data save frequency
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head_camera_fovy: 45 # Field of view angle of the top camera
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save_type: # Data save format
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raw_data: false
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pkl: true
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data_type: # Data content to save
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rgb: true
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observer: false
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depth: true
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pointcloud: true
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combine: false
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endpose: true
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qpos: true
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mesh_segmentation: false
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actor_segmentation: false
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```
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**Notes:**
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1. `render_freq` is generally set to a multiple of 5.
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2. If `use_seed` is True, there should be corresponding seed files in the `seeds/` folder.
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3. `episode_num` is the last episode number and is not affected by `st_episode`.
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