64 lines
2.3 KiB
YAML
64 lines
2.3 KiB
YAML
robot:
|
|
type: uf::robot
|
|
id: "uf_robot"
|
|
robot_dof: 7
|
|
control_space: "joint"
|
|
robot_ip: "192.168.1.245"
|
|
gripper_type: 1
|
|
enable_logs: false
|
|
# Up to 60 Hz goal updates; the first command after idle is immediate.
|
|
# Keeping the gripper below its 5000 maximum speed avoids C19 in testing.
|
|
gripper_command_interval_s: 0.0166667
|
|
# Avoid the previous maximum-speed (5000) default on the tool RS485 device.
|
|
gripper_speed: 1500
|
|
# Use the high-frequency servo interface for lower-latency GELLO tracking.
|
|
joint_command_mode: 1
|
|
max_joint_velocity: 120
|
|
# TCP z floor in the xArm base coordinate system (mm).
|
|
min_tcp_z_mm: -2.0
|
|
# CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
|
|
tcp_z_guard_backend: "local_projection"
|
|
tcp_z_soft_margin_mm: 5.0
|
|
local_kinematics_max_error_mm: 2.0
|
|
controller_safety_boundary: true
|
|
# Append gripper initialization/read/write failures here.
|
|
gripper_error_log_path: "logs/xarm7_gripper_errors.log"
|
|
cameras:
|
|
camera:
|
|
type: intelrealsense
|
|
serial_number_or_name: "242622070583"
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
camera2:
|
|
type: intelrealsense
|
|
serial_number_or_name: "148522072685"
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
# Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333
|
|
# start_joints: [0, -30, 0, 0, 0, 30, 0]
|
|
# make sure to edit with your correct configurations!
|
|
teleop:
|
|
type: uf::gello_teleop
|
|
id: "gello_teleop"
|
|
# Independent GELLO -> xArm command loop; dataset.fps remains the recording rate.
|
|
realtime_control_fps: 60
|
|
port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
|
|
joint_ids: [1, 2, 3, 4, 5, 6, 7]
|
|
joint_signs: [1, 1, 1, 1, 1, 1, 1]
|
|
gripper_id: 8
|
|
gripper_open_deg: 198.28125
|
|
gripper_close_deg: 155.75
|
|
|
|
dataset:
|
|
# Dataset path relative to the directory where the command is started.
|
|
root: "datasets/xarm7_gello_joint_safe_datas"
|
|
repo_id: "ufactory/xarm7_gello_joint_safe_datas"
|
|
single_task: "Pick up the purple grape and drop into the box on the left."
|
|
# Cameras deliver 30 Hz; arm ServoJ remains independently fixed at 60 Hz.
|
|
fps: 30
|
|
episode_time_s: 60 # max duration for one episode
|
|
reset_time_s: 20 # time for resetting env between episodes
|
|
push_to_hub: False
|