77 lines
2.6 KiB
YAML
77 lines
2.6 KiB
YAML
robot:
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type: uf::robot
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id: "uf_robot"
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robot_dof: 7
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control_space: "joint"
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robot_ip: "192.168.1.245"
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# 2: xArm Gripper G2 (0-84 mm opening range).
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gripper_type: 2
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enable_logs: false
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# Up to 60 Hz goal updates; unchanged targets are filtered below.
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gripper_command_interval_s: 0.0166667
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# xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
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gripper_speed: 50
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# xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
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gripper_force: 1
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# Use the high-frequency servo interface for lower-latency GELLO tracking.
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joint_command_mode: 1
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max_joint_velocity: 120
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# TCP z floor in the xArm base coordinate system (mm).
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min_tcp_z_mm: -2.0
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# CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
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tcp_z_guard_backend: "local_projection"
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tcp_z_soft_margin_mm: 0.5
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local_kinematics_max_error_mm: 2.0
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controller_safety_boundary: true
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# Append gripper initialization/read/write failures here.
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gripper_error_log_path: "logs/xarm7_gripper_errors.log"
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cameras:
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camera:
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type: intelrealsense
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serial_number_or_name: "242622070583"
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width: 640
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height: 480
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fps: 30
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camera2:
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type: intelrealsense
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serial_number_or_name: "148522072685"
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width: 640
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height: 480
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fps: 30
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# Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333
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# start_joints: [0, -30, 0, 0, 0, 30, 0]
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# make sure to edit with your correct configurations!
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teleop:
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type: uf::gello_teleop
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id: "gello_teleop"
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# Independent GELLO -> xArm command loop; dataset.fps remains the recording rate.
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realtime_control_fps: 60
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port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
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joint_ids: [1, 2, 3, 4, 5, 6, 7]
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joint_signs: [1, 1, 1, 1, 1, 1, 1]
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gripper_id: 8
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gripper_open_deg: 198.28125
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gripper_close_deg: 155.75
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# Lossy browser preview of the frames already captured for the dataset.
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# JPEG encoding and network I/O run in the background; preview frames are
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# dropped instead of delaying the 30 Hz recorder or 60 Hz GELLO control loop.
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web_preview:
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enabled: false
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host: "0.0.0.0"
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port: 8765
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fps: 8
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width: 480
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jpeg_quality: 65
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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/xarm7_gello_test"
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repo_id: "ufactory/xarm7_gello_test"
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single_task: "Test episode for GELLO control."
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# Cameras deliver 30 Hz; arm ServoJ remains independently fixed at 60 Hz.
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fps: 30
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episode_time_s: 360 # max duration for one episode
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reset_time_s: 20 # time for resetting env between episodes
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push_to_hub: False
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