robot:
  type: uf::robot
  id: "uf_robot"
  robot_dof: 7
  control_space: "joint"
  robot_ip: "192.168.1.245"
  gripper_type: 1
  # Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333
  # start_joints: [0, -30, 0, 0, 0, 30, 0]

# make sure to edit with your correct configurations!
teleop:
  type: uf::gello_teleop
  id: "gello_teleop"
  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
  joint_ids: [1, 2, 3, 4, 5, 6, 7]
  joint_signs: [1, 1, 1, 1, 1, 1, 1]
  # Fixed from xarm7_gello_reset_calibration.yaml. The captured GELLO pose
  # below maps to the xArm SDK initial point instead of recalibrating at startup.
  joint_offsets: [89.472656, 239.794922, 176.396484, 155.039062, 181.669922, 126.621094, 176.132812]
  start_joints: [0, -30, 0, 0, 0, 30, 0]
  gripper_id: 8
  gripper_open_deg: 198.017578
  gripper_close_deg: 155.75
  reset_speed_deg_s: 10.0

dataset:
  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_gello_datas"
  repo_id: "ufactory/xarm6_gello_datas"
  single_task: "Pick up the purple grape and drop into the box on the left."
  fps: 30
  episode_time_s: 60  # max duration for one episode
  reset_time_s: 20    # time for resetting env between episodes
  push_to_hub: False