RobotConfig:
  _target_: ufactory_lerobot.robots.uf_mock_robot.MultipleUFMockRobotConfig
  id: "multiple_uf_mock_robots"
  robots:
    left:
      _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
      id: "left_uf_mock_robot"
      control_space: "cartesian"
      gripper_type: 1
      state_offset_action: 3
      cameras:
        fisheye:
          _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
          serial_number: "250801DR48FP26001318"
          width: 1280
          height: 1280
          fps: 30
    right:
      _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
      id: "right_uf_mock_robot"
      control_space: "cartesian"
      gripper_type: 1
      state_offset_action: 3
      cameras:
        fisheye:
          _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
          serial_number: "250801DR48FP26001295"
          width: 1280
          height: 1280
          fps: 30

# make sure to edit with your correct configurations!
TeleoperatorConfig:
  _target_: ufactory_lerobot.teleoperators.umi_teleop.MultipleUmiTeleopConfig
  id: "multiple_teleops"
  teleops:
    left:
      _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
      id: "left_teleop"
      serial_number: "250801DR48FP26001318"
      use_vive_tracker: False
      vive_tracker_id: "LHR-555DC7BF"
      use_gripper: True
      tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
      robot_base_pose: [400, 0, 150, -90, 0, 0]
    right:
      _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
      id: "right_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, 150, 90, 0, 0]

DatasetRecordConfig:
  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
  root: "../lerobot_datas/record/ufactory/dual_xarm6_umi_datas"
  repo_id: "ufactory/dual_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    # (invalid) time for resetting env between episodes
  num_episodes: 100
  push_to_hub: False