robot:
  type: uf::robot
  id: "uf_robot"
  robot_dof: 7
  control_space: "cartesian"
  robot_ip: "192.168.1.127"
  gripper_type: 0
  enable_logs: false

  cameras:
    overhead:
      type: intelrealsense
      serial_number_or_name: "Intel RealSense D435I"
      width: 640
      height: 480
      fps: 30
    tool:
      type: intelrealsense
      serial_number_or_name: "Intel RealSense D435"
      width: 640
      height: 480
      fps: 30

# space mouse
teleop:
  type: uf::spacemouse_teleop
  max_value: 300
  use_gripper: False

dataset:
  # Dataset path relative to the directory where the command is started.
  root: "datasets/xarm7_pushT"
  repo_id: "ufactory/xarm7_pushT"
  single_task: "Push the T-block into the specified zone then go to reset position."
  fps: 10
  episode_time_s: 60  # max duration for one episode
  reset_time_s: 20    # (invalid) time for resetting env between episodes
  push_to_hub: False
