35 lines
1.2 KiB
YAML
35 lines
1.2 KiB
YAML
RobotConfig:
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_target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
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id: "uf_mock_robot"
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control_space: "cartesian"
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gripper_type: 2
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state_offset_action: 3
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cameras:
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fisheye:
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_target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
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index_or_path: "/dev/v4l/by-id/usb-DECXIN_CAMERA_DECXIN_CAMERA_01.00.00-video-index0"
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width: 640
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height: 480
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fps: 30
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fourcc: "MJPG"
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DatasetRecordConfig:
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_target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
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# root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
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root: "/home/uf/Data/lerobot_datas/record/ufactory/pika_datas"
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repo_id: "ufactory/pika_datas"
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single_task: "Pick up the purple grape and drop into the box on the left."
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fps: 30
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episode_time_s: 60 # max duration for one episode
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reset_time_s: 20 # (invalid) time for resetting env between episodes
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push_to_hub: False
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# make sure to edit with your correct configurations!
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TeleoperatorConfig:
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_target_: ufactory_lerobot.teleoperators.pika_teleop.PikaTeleopConfig
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# port: "/dev/ttyUSB0"
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scale_xyz: 1.5
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tracker_to_robot_eef: [0, 0, 0, 180, -90, 0]
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robot_base_pose: [400, 0, 400, 180, 0, 0]
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