RobotConfig:
  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
  id: "uf_robot"
  robot_dof: 7
  control_space: "cartesian"
  robot_ip: "192.168.1.85"
  gripper_type: 10
  max_linear_velocity: 200
  start_joints: [-0.2, -13.9, -0.3, 52.6, 0.9, 66.6, 0.2]
  start_tcp_pose: [400, 0, 400, 180, 0, 0]
  
  cameras:
    fisheye:
      _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
      index_or_path: "/dev/v4l/by-id/usb-DECXIN_CAMERA_DECXIN_CAMERA_01.00.00-video-index0"
      width: 640
      height: 480
      fps: 30
      fourcc: "MJPG"

DatasetRecordConfig:
  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
  root: "../lerobot_datas/record/ufactory/xarm7_pika_datas"
  repo_id: "ufactory/xarm7_pika_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    # (invalid) time for resetting env between episodes
  push_to_hub: False

# make sure to edit with your correct configurations!
TeleoperatorConfig:
  _target_: ufactory_lerobot.teleoperators.pika_teleop.PikaTeleopConfig
  # port: "/dev/ttyUSB0"
  scale_xyz: 1.5
  tracker_to_robot_eef: [0, 0, 0, 180, -90, 0]
  robot_base_pose: [400, 0, 400, 180, 0, 0]