| { |
| "type": "gym_manipulator", |
| "robot": { |
| "type": "so100_follower_end_effector", |
| "port": "/dev/tty.usbmodem58760431631", |
| "urdf_path": "path/to/your/robot.urdf", |
| "target_frame_name": "gripper_frame_link", |
| "cameras": { |
| "front": { |
| "type": "opencv", |
| "index_or_path": 0, |
| "height": 720, |
| "width": 1280, |
| "fps": 30 |
| }, |
| "wrist": { |
| "type": "opencv", |
| "index_or_path": 1, |
| "height": 720, |
| "width": 1280, |
| "fps": 30 |
| } |
| }, |
| "end_effector_bounds": { |
| "min": [ |
| -1.0, |
| -1.0, |
| -1.0 |
| ], |
| "max": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ] |
| }, |
| "end_effector_step_sizes": { |
| "x": 0.025, |
| "y": 0.025, |
| "z": 0.025 |
| } |
| }, |
| "teleop": { |
| "type": "gamepad", |
| "use_gripper": true |
| }, |
| "wrapper": { |
| "display_cameras": false, |
| "add_joint_velocity_to_observation": true, |
| "add_current_to_observation": true, |
| "add_ee_pose_to_observation": true, |
| "crop_params_dict": { |
| "observation.images.front": [ |
| 270, |
| 170, |
| 90, |
| 190 |
| ], |
| "observation.images.wrist": [ |
| 0, |
| 0, |
| 480, |
| 640 |
| ] |
| }, |
| "resize_size": [ |
| 128, |
| 128 |
| ], |
| "control_time_s": 20.0, |
| "use_gripper": true, |
| "gripper_quantization_threshold": null, |
| "gripper_penalty": -0.02, |
| "gripper_penalty_in_reward": false, |
| "fixed_reset_joint_positions": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 90.0, |
| 0.0, |
| 5.0 |
| ], |
| "reset_time_s": 2.5, |
| "control_mode": "gamepad" |
| }, |
| "name": "real_robot", |
| "mode": null, |
| "repo_id": null, |
| "dataset_root": null, |
| "task": "", |
| "num_episodes": 2, |
| "episode": 0, |
| "pretrained_policy_name_or_path": null, |
| "device": "cpu", |
| "push_to_hub": true, |
| "fps": 10, |
| "features": { |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 15 |
| ] |
| }, |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 3 |
| ] |
| } |
| }, |
| "features_map": { |
| "observation.images.front": "observation.images.side", |
| "observation.images.wrist": "observation.images.wrist", |
| "observation.state": "observation.state", |
| "action": "action" |
| }, |
| "reward_classifier_pretrained_path": null |
| } |
