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| "fps": 30, |
| "features": { |
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| "wrist_roll.pos", |
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| "elbow_flex.torq", |
| "wrist_flex.torq", |
| "wrist_yaw.torq", |
| "wrist_roll.torq", |
| "gripper.torq", |
| "shoulder_pan.vel", |
| "shoulder_lift.vel", |
| "elbow_flex.vel", |
| "wrist_flex.vel", |
| "wrist_yaw.vel", |
| "wrist_roll.vel", |
| "gripper.vel" |
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| "video.video_backend": "pyav", |
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| "video.video_backend": "pyav", |
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| 640, |
| 3 |
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| "index": { |
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| "task_index": { |
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| } |
| }, |
| "total_episodes": 100, |
| "total_frames": 23726, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": "rebot_b601_follower", |
| "splits": { |
| "train": "0:100" |
| }, |
| "robot_config": { |
| "robot": { |
| "type": "rebot_b601_follower", |
| "id": "b601_follower", |
| "port": "/dev/ttyACM0", |
| "can_adapter": "damiao", |
| "dm_serial_baud": 921600, |
| "disable_torque_on_disconnect": true, |
| "return_home_on_disconnect": true, |
| "home_duration_s": 1.25, |
| "home_joint_durations_s": "{'elbow_flex': 2.0}", |
| "gripper_close_duration_s": 1.0, |
| "wrist_lower_duration_s": 0.67, |
| "home_wrist_flex_deg": -45.0, |
| "max_relative_target": null, |
| "cameras": { |
| "zed_left": { |
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| "width": 672, |
| "height": 376, |
| "side": "left", |
| "serial_number": "13925480" |
| }, |
| "zed_right": { |
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| "height": 376, |
| "side": "right", |
| "serial_number": "13925480" |
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| "wrist_cam": { |
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| "width": 640, |
| "height": 360, |
| "index_or_path": "/dev/video0", |
| "color_mode": "rgb", |
| "rotation": 0, |
| "warmup_s": 3, |
| "fourcc": "MJPG", |
| "backend": 200 |
| } |
| }, |
| "motor_can_ids": { |
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| ], |
| "shoulder_lift": [ |
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| 18 |
| ], |
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| 19 |
| ], |
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| 20 |
| ], |
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| 21 |
| ], |
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| 22 |
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| 23 |
| ] |
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| "pos_vel_velocity": [ |
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| 150.0, |
| 150.0, |
| 150.0, |
| 150.0, |
| 900.0 |
| ], |
| "control_mode": "mit", |
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| 45.0, |
| 45.0, |
| 8.0, |
| 9.0, |
| 8.0, |
| 8.0 |
| ], |
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| 12.0, |
| 12.0, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "gravity_compensation": true, |
| "gravity_gain": 1.0, |
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| 0.0, |
| 0.0 |
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| "temp_sample_hz": 10.0, |
| "temp_shutdown_enabled": true, |
| "temp_debug": false, |
| "gripper_control_mode": "force_pos", |
| "gripper_torque_ratio": 0.07, |
| "gripper_mit_kp": 8.0, |
| "gripper_mit_kd": 0.3, |
| "send_rate_hz": 100.0, |
| "can_error_grace_s": 2.0, |
| "profile_log_path": null, |
| "enable_trajectory_smoothing": true, |
| "smoothing_time_constant_s": 0.02, |
| "joint_limits": { |
| "shoulder_pan": [ |
| -150.0, |
| 150.0 |
| ], |
| "shoulder_lift": [ |
| -200.0, |
| 1.0 |
| ], |
| "elbow_flex": [ |
| -200.0, |
| 1.0 |
| ], |
| "wrist_flex": [ |
| -80.0, |
| 90.0 |
| ], |
| "wrist_yaw": [ |
| -90.0, |
| 90.0 |
| ], |
| "wrist_roll": [ |
| -90.0, |
| 90.0 |
| ], |
| "gripper": [ |
| -270.0, |
| 0.0 |
| ] |
| }, |
| "calibration_dir": null |
| }, |
| "teleop": { |
| "type": "rebot_102_leader", |
| "id": "b601_leader", |
| "port": "/dev/ttyUSB0", |
| "baudrate": 1000000, |
| "joint_ids": { |
| "shoulder_pan": 0, |
| "shoulder_lift": 1, |
| "elbow_flex": 2, |
| "wrist_flex": 3, |
| "wrist_yaw": 4, |
| "wrist_roll": 5, |
| "gripper": 6 |
| }, |
| "joint_directions": { |
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| "shoulder_lift": -1, |
| "elbow_flex": 1, |
| "wrist_flex": 1, |
| "wrist_yaw": 1, |
| "wrist_roll": -1, |
| "gripper": -6 |
| }, |
| "joint_ranges": { |
| "shoulder_pan": [ |
| -150, |
| 150 |
| ], |
| "shoulder_lift": [ |
| -200, |
| 1 |
| ], |
| "elbow_flex": [ |
| -200, |
| 1 |
| ], |
| "wrist_flex": [ |
| -80, |
| 90 |
| ], |
| "wrist_yaw": [ |
| -90, |
| 90 |
| ], |
| "wrist_roll": [ |
| -90, |
| 90 |
| ], |
| "gripper": [ |
| -270, |
| 0 |
| ] |
| }, |
| "calibration_dir": null |
| } |
| } |
| } |
