36 lines
976 B
YAML
36 lines
976 B
YAML
robot:
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type: uf::mock_robot
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id: "uf_mock_robot"
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control_space: "cartesian"
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gripper_type: 1
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state_offset_action: 3
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teleop_id: "umi_250801DR48FP26001295"
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cameras:
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fisheye:
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type: uf::umi_camera
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serial_number: "250801DR48FP26001295"
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width: 1280
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height: 1280
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fps: 100
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teleop:
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type: uf::umi_teleop
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id: "umi_250801DR48FP26001295"
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serial_number: "250801DR48FP26001295"
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use_vive_tracker: False
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vive_tracker_id: "LHR-2425BAD3"
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use_gripper: True
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tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
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robot_base_pose: [400, 0, 400, 180, 0, 0]
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dataset:
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# Dataset path relative to the directory where the command is started.
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root: "datasets/umi_datas"
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repo_id: "ufactory/umi_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: 60
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episode_time_s: 60 # max duration for one episode
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reset_time_s: 20 # time for resetting env between episodes
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num_episodes: 100
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push_to_hub: False
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