# Real-robot eval config for uf-starvla-eval (external starVLA policy server).
# Robot section is derived from config/gello/xarm7_gello_record_config.yaml
# (teleop / dataset / web_preview sections removed).
robot:
  type: uf::robot
  id: "uf_robot"
  robot_dof: 7
  control_space: "joint"
  # TODO: confirm this is your xArm controller IP.
  robot_ip: "192.168.1.245"
  # 2: xArm Gripper G2 (0-84 mm opening range).
  gripper_type: 2
  enable_logs: false
  # Up to 60 Hz goal updates; unchanged targets are filtered below.
  gripper_command_interval_s: 0.0166667
  # xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
  gripper_speed: 100
  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
  gripper_force: 50
  # Use the high-frequency servo interface for lower-latency action streaming.
  joint_command_mode: 1
  max_joint_velocity: 120
  # TCP z floor in the xArm base coordinate system (mm).
  min_tcp_z_mm: -2.0
  # CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
  tcp_z_guard_backend: "local_projection"
  tcp_z_soft_margin_mm: 0.5
  local_kinematics_max_error_mm: 2.0
  controller_safety_boundary: true
  # Append gripper initialization/read/write failures here.
  gripper_error_log_path: "logs/xarm7_gripper_errors.log"
  cameras:
    # Single camera view; must match `camera_key` below and the training setup.
    # TODO: fill in the serial number of YOUR RealSense camera.
    camera:
      type: intelrealsense
      serial_number_or_name: "242622070583"
      width: 640
      height: 480
      fps: 30

# starVLA policy server address (server binds 0.0.0.0; set the server IP here
# if the server runs on a different machine).
server_host: "127.0.0.1"
server_port: 10093

# Control frequency for streaming actions to the robot.
fps: 30
# Execute the first N steps of each predicted action chunk (T=50), then re-infer.
# N=1 means fully closed-loop (re-infer every step).
steps_per_inference: 25
single_task: "Pick up the black bottle and place it on the blue bag"
n_episodes: 50
# Key of the camera in the robot observation dict (camera name above).
camera_key: "camera"