env_config_so100.json

{
    "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
}