robot:
  type: uf::robot
  id: "uf_robot"  
  robot_dof: 6
  control_space: "cartesian"
  robot_ip: "192.168.1.83"
  gripper_type: 2
  max_linear_velocity: 250
  cameras:
    fisheye:
      type: opencv
      index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0"
      width: 1280
      height: 1280
      fps: 100
      fourcc: "YUYV"

teleop:
  type: uf::umi_teleop
  serial_number: "250801DR48FP26001295"
  use_vive_tracker: False
  vive_tracker_id: "LHR-2425BAD3"
  use_gripper: True
  tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
  robot_base_pose: [400, 0, 400, 180, 0, 0]

dataset:
  # Dataset path relative to the directory where the command is started.
  root: "datasets/xarm6_umi_datas"
  repo_id: "ufactory/xarm6_umi_datas"
  single_task: "Pick up the purple grape and drop into the box on the left."
  fps: 60
  episode_time_s: 60  # max duration for one episode
  reset_time_s: 20    # time for resetting env between episodes
  num_episodes: 100
  push_to_hub: False
