RobotConfig:
  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
  id: "uf_robot"
  robot_dof: 7
  control_space: "cartesian"
  robot_ip: "192.168.1.127"
  gripper_type: 0

  cameras:
    overhead:
      _target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig
      serial_number_or_name: "Intel RealSense D435I"
      width: 640
      height: 480
      fps: 30
    tool:
      _target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig
      serial_number_or_name: "Intel RealSense D435"
      width: 640
      height: 480
      fps: 30

DatasetRecordConfig:
  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
  # root: /home/<user_name>/.cache/huggingface/lerobot (default)
  root: "/home/uf/Data/lerobot_datas/record/ufactory/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

# space mouse
TeleoperatorConfig:
  _target_: ufactory_lerobot.teleoperators.space_mouse.SpaceMouseTeleopConfig
  max_value: 300
  use_gripper: False