39 lines
1.4 KiB
YAML
39 lines
1.4 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: 6
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control_space: "cartesian"
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robot_ip: "192.168.1.83"
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gripper_type: 2
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max_linear_velocity: 250
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start_joints: [0, -14.8, -52.6, 0, 67.4, 0]
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start_tcp_pose: [400, 0, 400, 180, 0, 0]
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cameras:
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fisheye:
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_target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
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index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0"
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width: 1280
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height: 1280
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fps: 100
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fourcc: "YUYV"
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TeleoperatorConfig:
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_target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
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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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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: "../lerobot_datas/record/ufactory/xarm6_umi_datas"
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repo_id: "ufactory/xarm6_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 # (invalid) time for resetting env between episodes
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num_episodes: 100
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push_to_hub: False |