robot:
  type: uf::robot
  id: "uf_manual_robot"
  robot_dof: 7
  control_space: "joint"
  # IP address of the xArm controller.
  robot_ip: "192.168.1.245"
  # Gripper type: 1 is the xArm gripper.
  gripper_type: 1
  enable_logs: false
  manual_mode: true
  # Normalized gripper position change per second while holding C/O.
  manual_gripper_speed: 0.5
  # Teaching sensitivity, valid range is 1-5, affecting vel of the robot.
  teach_sensitivity: 5
  # Whether to record joint velocities in observations.
  observe_joint_vel: false

  cameras:
    camera:
      type: intelrealsense
      serial_number_or_name: "242622070583"
      width: 640
      height: 480
      fps: 30

dataset:
  # Dataset path relative to the directory where the command is started.
  root: "datasets/xarm7_manual_replay_pick_bottle"
  repo_id: "zjuscl/xarm7_manual_replay_pick_bottle"
  # Task description stored with each recorded frame.
  single_task: "Pick up the black bottle and place it on the blue bag"
  fps: 30
  episode_time_s: 60
  # Reserved reset duration between episodes in seconds.
  reset_time_s: 20
  # Number of episodes to record.
  num_episodes: 50
  # Store camera observations as videos.
  video: true
  push_to_hub: false
