69 lines
2.3 KiB
YAML
69 lines
2.3 KiB
YAML
RobotConfig:
|
|
_target_: ufactory_lerobot.robots.uf_mock_robot.MultipleUFMockRobotConfig
|
|
id: "multiple_uf_mock_robots"
|
|
robots:
|
|
left:
|
|
_target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
|
|
id: "left_uf_mock_robot"
|
|
control_space: "cartesian"
|
|
gripper_type: 1
|
|
state_offset_action: 3
|
|
cameras:
|
|
fisheye:
|
|
_target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
|
|
serial_number: "250801DR48FP26001318"
|
|
width: 1280
|
|
height: 1280
|
|
fps: 30
|
|
right:
|
|
_target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
|
|
id: "right_uf_mock_robot"
|
|
control_space: "cartesian"
|
|
gripper_type: 1
|
|
state_offset_action: 3
|
|
cameras:
|
|
fisheye:
|
|
_target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
|
|
serial_number: "250801DR48FP26001295"
|
|
width: 1280
|
|
height: 1280
|
|
fps: 30
|
|
|
|
# make sure to edit with your correct configurations!
|
|
TeleoperatorConfig:
|
|
_target_: ufactory_lerobot.teleoperators.umi_teleop.MultipleUmiTeleopConfig
|
|
id: "multiple_teleops"
|
|
teleops:
|
|
left:
|
|
_target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
|
|
id: "left_teleop"
|
|
serial_number: "250801DR48FP26001318"
|
|
use_vive_tracker: False
|
|
vive_tracker_id: "LHR-555DC7BF"
|
|
use_gripper: True
|
|
tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
|
|
robot_base_pose: [400, 0, 150, -90, 0, 0]
|
|
right:
|
|
_target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
|
|
id: "right_teleop"
|
|
serial_number: "250801DR48FP26001295"
|
|
use_vive_tracker: False
|
|
vive_tracker_id: "LHR-2425BAD3"
|
|
use_gripper: True
|
|
tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
|
|
robot_base_pose: [400, 0, 150, 90, 0, 0]
|
|
|
|
DatasetRecordConfig:
|
|
_target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
|
|
# root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
|
|
root: "../lerobot_datas/record/ufactory/dual_xarm6_umi_datas"
|
|
repo_id: "ufactory/dual_xarm6_umi_datas"
|
|
single_task: "Pick up the purple grape and drop into the box on the left."
|
|
fps: 60
|
|
episode_time_s: 60 # max duration for one episode
|
|
reset_time_s: 20 # (invalid) time for resetting env between episodes
|
|
num_episodes: 100
|
|
push_to_hub: False
|
|
|
|
|