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{
"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
} |