{
    "env": {
        "robot": {
            "type": "so100_follower",
            "port": "/dev/tty.usbmodem5A460822851",
            "id": "turqoise",
            "cameras": {
                "top": {
                    "type": "opencv",
                    "index_or_path": 0,
                    "height": 480,
                    "width": 640,
                    "fps": 30
                }
            }
        },
        "teleop": {
            "type": "gamepad",
            "use_gripper": true
        },
        "processor": {
            "control_mode": "gamepad",
            "observation": {
                "display_cameras": false,
                "add_joint_velocity_to_observation": true,
                "add_current_to_observation": true,
                "add_ee_pose_to_observation": true
            },
            "image_preprocessing": {
                "crop_params_dict": {
                  "observation.images.top": [49, 189, 262, 305]
                },
                "resize_size": [128, 128]            
            },
            "gripper": {
                "use_gripper": true,
                "gripper_penalty": -0.02,
                "gripper_penalty_in_reward": false
            },
            "reset": {
                "fixed_reset_joint_positions": [
                    0.0,
                    0.0,
                    0.0,
                    90.0,
                    0.0,
                    30.0
                ],
                "reset_time_s": 2.5,
                "control_time_s": 20.0,
                "terminate_on_success": true
            },
            "inverse_kinematics": {
                "urdf_path": "/Users/michel_aractingi/code/SO-ARM100/Simulation/SO101/so101_new_calib.urdf",
                "target_frame_name": "gripper_frame_link",
                "end_effector_bounds": {
                    "min": [
                        0.195,
                        -0.065,
                        0.005
                    ],
                    "max": [
                        0.25,
                        0.065,
                        0.1
                    ]
                },
                "end_effector_step_sizes": {
                    "x": 0.02,
                    "y": 0.02,
                    "z": 0.02
                }
            },
            "reward_classifier": {
                "pretrained_path": null,
                "success_threshold": 0.5,
                "success_reward": 1.0
            },
            "max_gripper_pos": 30
        },
        "name": "real_robot",
        "fps": 10
    },
    "dataset": {
        "repo_id": "aractingi/pick_lift_cube_pipeline_test",
        "root": null,
        "task": "",
        "num_episodes_to_record": 15,
        "replay_episode": null,
        "push_to_hub": true
    },
    "mode": null,
    "device": "cpu"
}