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lerobot-example-config-files

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lerobot-example-config-files
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{
    "type": "hil",
    "wrapper": {
        "gripper_penalty": -0.02,
        "display_cameras": false,
        "add_joint_velocity_to_observation": true,
        "add_ee_pose_to_observation": true,
        "crop_params_dict": {
            "observation.images.front": [
                0,
                0,
                128,
                128
            ],
            "observation.images.wrist": [
                0,
                0,
                128,
                128
            ]
        },
        "resize_size": [
            128,
            128
        ],
        "control_time_s": 15.0,
        "use_gripper": true,
        "fixed_reset_joint_positions": [
            0.0,
            0.195,
            0.0,
            -2.43,
            0.0,
            2.62,
            0.785
        ],
        "reset_time_s": 2.0,
        "control_mode": "gamepad"
    },
    "name": "franka_sim",
    "mode": null,
    "repo_id": null,
    "dataset_root": null,
    "task": "PandaPickCubeGamepad-v0",
    "num_episodes": 30,
    "episode": 0,
    "pretrained_policy_name_or_path": null,
    "device": "cuda",
    "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": [
                18
            ]
        },
        "action": {
            "type": "ACTION",
            "shape": [
                3
            ]
        }
    },
    "features_map": {
        "observation.images.front": "observation.images.front",
        "observation.images.wrist": "observation.images.wrist",
        "observation.state": "observation.state",
        "action": "action"
    },
    "reward_classifier_pretrained_path": null
}