35 lines
1018 B
YAML
35 lines
1018 B
YAML
robot:
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type: uf::robot
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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: "192.168.1.85"
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gripper_type: 10
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max_linear_velocity: 200
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cameras:
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fisheye:
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type: opencv
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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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# make sure to edit with your correct configurations!
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teleop:
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type: uf::pika_teleop
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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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dataset:
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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/xarm7_pika_datas"
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repo_id: "ufactory/xarm7_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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