31 lines
1.1 KiB
YAML
31 lines
1.1 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: 5
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control_space: "joint"
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robot_ip: "192.168.1.75"
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gripper_type: 1
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start_joints: [0, 0, -90, 90, 0]
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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/xarm5_gello_datas"
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repo_id: "ufactory/xarm5_gello_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.gello_teleop.GelloTeleopConfig
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port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
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joint_ids: [1, 2, 4, 6, 7]
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joint_signs: [1, 1, -1, 1, 1]
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start_joints: [0, 0, -90, 90, 0]
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gripper_id: 8
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torque_joint_ids: [3, 5]
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