38 lines
1.2 KiB
YAML
38 lines
1.2 KiB
YAML
RobotConfig:
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_target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
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id: "uf_robot"
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robot_dof: 7
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control_space: "cartesian"
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robot_ip: "192.168.1.127"
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gripper_type: 0
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cameras:
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overhead:
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_target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig
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serial_number_or_name: "Intel RealSense D435I"
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width: 640
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height: 480
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fps: 30
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tool:
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_target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig
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serial_number_or_name: "Intel RealSense D435"
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width: 640
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height: 480
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fps: 30
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DatasetRecordConfig:
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_target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
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# root: /home/<user_name>/.cache/huggingface/lerobot (default)
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root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pushT"
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repo_id: "ufactory/xarm7_pushT"
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single_task: "Push the T-block into the specified zone then go to reset position."
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fps: 10
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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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# space mouse
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TeleoperatorConfig:
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_target_: ufactory_lerobot.teleoperators.space_mouse.SpaceMouseTeleopConfig
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max_value: 300
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use_gripper: False |