Update configs to match new LeRobot RL refactor

reward_classifier/config.json

@@ -1,54 +1,46 @@
 {
-    "dataset": {
-        "repo_id": "hf_username/dataset_name",
-        "root": null
+  "dataset": {
+    "repo_id": "lilkm/pick_cube_franka_panda_30",
+    "root": null
+  },
+  "policy": {
+    "type": "reward_classifier",
+    "model_name": "lerobot/resnet10",
+    "model_type": "cnn",
+    "num_cameras": 2,
+    "num_classes": 2,
+    "hidden_dim": 256,
+    "dropout_rate": 0.1,
+    "learning_rate": 1e-4,
+    "device": "cuda",
+    "input_features": {
+      "observation.images.front": {
+        "type": "VISUAL",
+        "shape": [3, 128, 128]
+      },
+      "observation.images.wrist": {
+        "type": "VISUAL",
+        "shape": [3, 128, 128]
+      }
     },
-    "policy": {
-        "type": "reward_classifier",
-        "model_name": "helper2424/resnet10",
-        "model_type": "cnn",
-        "num_cameras": 2,
-        "num_classes": 2,
-        "hidden_dim": 256,
-        "dropout_rate": 0.1,
-        "learning_rate": 1e-4,
-        "device": "cuda",
-        "use_amp": true,
-        "input_features": {
-            "observation.images.side": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    128,
-                    128
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    128,
-                    128
-                ]
-            }
-        }
-    },
-    "batch_size": 16,
-    "num_workers": 4,
-    "steps": 5000,
-    "log_freq": 10,
-    "eval_freq": 1000,
-    "save_freq": 1000,
-    "save_checkpoint": true,
-    "seed": 2,
-    "resume": false,
-    "optimizer": {
-        "grad_clip_norm": 10.0
-    },
-    "wandb": {
-        "enable": true,
-        "project": "reward-classifier",
-        "disable_artifact": false
-    },
-    "job_name": "reward-classifier"
+    "push_to_hub": false,
+    "repo_id": "lilkm/pick_cube_reward_classifier"
+  },
+  "batch_size": 16,
+  "num_workers": 4,
+  "steps": 5000,
+  "log_freq": 10,
+  "eval_freq": 1000,
+  "save_freq": 1000,
+  "save_checkpoint": true,
+  "seed": 2,
+  "resume": false,
+  "optimizer": {
+    "grad_clip_norm": 10.0
+  },
+  "wandb": {
+    "enable": false,
+    "project": "reward-classifier"
+  },
+  "job_name": "reward-classifier"
 }

rl/env_config.json

@@ -1,16 +1,28 @@
 {
     "env": {
+        "name": "real_robot",
+        "fps": 10,
         "robot": {
             "type": "so100_follower",
-            "port": "/dev/tty.usbmodem5A460822851",
-            "id": "turqoise",
+            "port": "/dev/ttyACM0",
+            "use_degrees": true,
+            "id": "blue_follower",
             "cameras": {
                 "top": {
                     "type": "opencv",
-                    "index_or_path": 0,
+                    "index_or_path": "/dev/video2",
+                    "height": 480,
+                    "width": 640,
+                    "fps": 30,
+                    "fourcc": "MJPG"
+                },
+                "wrist": {
+                    "type": "opencv",
+                    "index_or_path": "/dev/video4",
                     "height": 480,
                     "width": 640,
-                    "fps": 30
+                    "fps": 30,
+                    "fourcc": "MJPG"
                 }
             }
         },
@@ -20,75 +32,55 @@
         },
         "processor": {
             "control_mode": "gamepad",
+            "max_gripper_pos": 30,
             "observation": {
-                "display_cameras": false,
+                "display_cameras": true,
                 "add_joint_velocity_to_observation": true,
                 "add_current_to_observation": true,
-                "add_ee_pose_to_observation": true
+                "add_ee_pose_to_observation": false
             },
             "image_preprocessing": {
-                "crop_params_dict": {
-                  "observation.images.top": [49, 189, 262, 305]
-                },
-                "resize_size": [128, 128]            
+                "crop_params_dict": null,
+                "resize_size": [128, 128]
             },
             "gripper": {
                 "use_gripper": true,
-                "gripper_penalty": -0.02,
-                "gripper_penalty_in_reward": false
+                "gripper_penalty": -0.02
             },
             "reset": {
-                "fixed_reset_joint_positions": [
-                    0.0,
-                    0.0,
-                    0.0,
-                    90.0,
-                    0.0,
-                    30.0
-                ],
+                "fixed_reset_joint_positions": [0.0, -20.0, 25.0, 90.0, 90.0, 30.0],
                 "reset_time_s": 2.5,
-                "control_time_s": 20.0,
+                "control_time_s": 30.0,
                 "terminate_on_success": true
             },
             "inverse_kinematics": {
-                "urdf_path": "/Users/michel_aractingi/code/SO-ARM100/Simulation/SO101/so101_new_calib.urdf",
+                "urdf_path": "./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
-                    ]
+                    "min": [0.115, -0.145, -0.0075],
+                    "max": [0.26, 0.145, 0.1]
                 },
                 "end_effector_step_sizes": {
-                    "x": 0.02,
-                    "y": 0.02,
-                    "z": 0.02
+                    "x": 0.009,
+                    "y": 0.009,
+                    "z": 0.01
                 }
             },
             "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",
+        "repo_id": "lilkm/so100_gamepad_insert_high_quality",
         "root": null,
-        "task": "",
-        "num_episodes_to_record": 15,
+        "task": "insert usb",
+        "num_episodes_to_record": 30,
         "replay_episode": null,
         "push_to_hub": true
     },
-    "mode": null,
-    "device": "cpu"
+    "mode": "record",
+    "device": "cuda"
 }

rl/gym_hil/env_config.json

@@ -7,27 +7,74 @@
         "teleop": null,
         "processor": {
             "control_mode": "gamepad",
+            "observation": {
+                "add_joint_velocity_to_observation": true,
+                "display_cameras": false
+            },
+            "image_preprocessing": null,
             "gripper": {
                 "use_gripper": true,
-                "gripper_penalty": -0.02,
-                "gripper_penalty_in_reward": false
+                "gripper_penalty": -0.02
             },
             "reset": {
-                "fixed_reset_joint_positions": [0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785],
-                "reset_time_s": 2.0,
-                "control_time_s": 15.0,
-                "terminate_on_success": true
+                "fixed_reset_joint_positions": [
+                    0.0,
+                    0.195,
+                    0.0,
+                    -2.43,
+                    0.0,
+                    2.62,
+                    0.785
+                ],
+                "reset_time_s": 1.0,
+                "control_time_s": 15.0
+            }
+        },
+        "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"
         }
     },
     "dataset": {
-        "repo_id": "aractingi/franka_sim_pick_lift_6",
+        "repo_id": "lilkm/pick_cube_franka_panda_30",
         "root": null,
         "task": "PandaPickCubeGamepad-v0",
         "num_episodes_to_record": 30,
         "replay_episode": 0,
         "push_to_hub": true
     },
-    "mode": null,
-    "device": "cpu"
+    "mode": "record",
+    "device": "cuda"
 }

rl/gym_hil/train_config.json

@@ -1,75 +1,55 @@
 {
     "output_dir": null,
-    "job_name": "franka_sim_sac",
+    "job_name": "default",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 256,
     "steps": 100000,
-    "eval_freq": 20000,
     "log_freq": 1,
     "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": null,
-    "scheduler": null,
+    "save_freq": 2000000,
     "wandb": {
         "enable": true,
         "project": "franka_sim",
         "disable_artifact": true
     },
     "dataset": {
-        "repo_id": "aractingi/franka_sim_pick_lift_5",
+        "repo_id": "lilkm/pick_cube_franka_panda_30",
         "use_imagenet_stats": false
     },
-    "env": {
-        "type": "gym_manipulator",
-        "name": "gym_hil",
-        "task": "PandaPickCubeGamepad-v0",
-        "fps": 10,
-        "robot": null,
-        "teleop": null,
-        "processor": {
-            "control_mode": "gamepad",
-            "gripper": {
-                "use_gripper": true,
-                "gripper_penalty": -0.02,
-                "gripper_penalty_in_reward": false
-            },
-            "reset": {
-                "fixed_reset_joint_positions": [0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785],
-                "reset_time_s": 2.0,
-                "control_time_s": 15.0,
-                "terminate_on_success": true
-            }
+    "algorithm": {
+        "type": "sac",
+        "actor_lr": 3e-4,
+        "critic_lr": 3e-4,
+        "temperature_lr": 3e-4,
+        "discount": 0.97,
+        "use_backup_entropy": true,
+        "critic_target_update_weight": 0.005,
+        "num_critics": 2,
+        "num_subsample_critics": null,
+        "critic_network_kwargs": {
+            "hidden_dims": [256, 256],
+            "activate_final": true,
+            "final_activation": null
         },
-        "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]
-            }
+        "discrete_critic_network_kwargs": {
+            "hidden_dims": [256, 256],
+            "activate_final": true,
+            "final_activation": null
         },
-        "features_map": {
-            "observation.images.front": "observation.images.front",
-            "observation.images.wrist": "observation.images.wrist",
-            "observation.state": "observation.state",
-            "action": "action"
-        }
+        "temperature_init": 0.01,
+        "target_entropy": null,
+        "utd_ratio": 2,
+        "policy_update_freq": 1,
+        "grad_clip_norm": 10.0,
+        "use_torch_compile": true
     },
+    "mixer": "online_offline",
+    "online_ratio": 0.5,
     "policy": {
-        "type": "sac",
+        "type": "gaussian_actor",
+        "push_to_hub": false,
         "n_obs_steps": 1,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
@@ -97,8 +77,6 @@
                 "shape": [3]
             }
         },
-        "device": "cuda",
-        "use_amp": false,
         "dataset_stats": {
             "observation.images.front": {
                 "mean": [0.485, 0.456, 0.406],
@@ -109,46 +87,66 @@
                 "std": [0.229, 0.224, 0.225]
             },
             "observation.state": {
-                "min": [-0.6897139549255371, -1.1421763896942139, -0.5745007991790771, -2.97829008102417, -0.2710767090320587, 1.3246592283248901, -0.04057434946298599, -0.21261805295944214, -0.4548068344593048, -0.6540042757987976, -0.3644964098930359, -1.1057522296905518, -0.40768879652023315, -0.2220114767551422, 0.0, 0.19176171720027924, -0.3013063669204712, 0.00362197193317115],
-                "max": [0.5107022523880005, 0.5516204237937927, 0.5620884299278259, -1.3330878019332886, 0.32758936285972595, 3.119610548019409, 1.8364211320877075, 0.25358933210372925, 0.36316126585006714, 0.14765967428684235, 0.49947625398635864, 0.144814133644104, 0.2820609211921692, 0.7382049560546875, 255.0, 0.6012658476829529, 0.3005995750427246, 0.5004003643989563]
+                "min": [
+                    -0.18890867,
+                    -0.13319267,
+                    -0.15566483,
+                    -3.04198435,
+                    -0.05300621,
+                    2.52864378,
+                    0.426834,
+                    -100.0,
+                    -100.0,
+                    -100.0,
+                    -100.0,
+                    -100.0,
+                    -100.0,
+                    -100.0,
+                    0.0,
+                    0.2,
+                    -0.3,
+                    0.0
+                ],
+                "max": [
+                    0.1956124,
+                    0.5096723,
+                    0.05482981,
+                    -2.01792539,
+                    0.04425749,
+                    2.90565838,
+                    1.07170398,
+                    100.0,
+                    100.0,
+                    100.0,
+                    100.0,
+                    100.0,
+                    100.0,
+                    100.0,
+                    255.0,
+                    0.6,
+                    0.3,
+                    0.5
+                ]
             },
             "action": {
-                "min": [-0.025, -0.025, -0.025],
-                "max": [0.025, 0.025, 0.025]
+                "min": [-1.0, -1.0, -1.0],
+                "max": [1.0, 1.0, 1.0]
             }
         },
-        "repo_id": "aractingi/franka_sim_pick_lift",
+        "num_discrete_actions": 3,
         "storage_device": "cpu",
-        "vision_encoder_name": "helper2424/resnet10",
+        "vision_encoder_name": "lerobot/resnet10",
         "freeze_vision_encoder": true,
         "image_encoder_hidden_dim": 32,
         "shared_encoder": true,
         "online_steps": 1000000,
-        "online_env_seed": 10000,
         "online_buffer_capacity": 100000,
         "offline_buffer_capacity": 100000,
         "online_step_before_learning": 100,
-        "policy_update_freq": 1,
-        "discount": 0.97,
-        "temperature_init": 0.01,
-        "num_critics": 2,
-        "num_subsample_critics": null,
-        "critic_lr": 0.0003,
-        "actor_lr": 0.0003,
-        "temperature_lr": 0.0003,
-        "critic_target_update_weight": 0.005,
-        "utd_ratio": 2,
         "state_encoder_hidden_dim": 256,
         "latent_dim": 64,
-        "target_entropy": null,
-        "use_backup_entropy": true,
-        "grad_clip_norm": 10.0,
-        "num_discrete_actions": 3,
-        "critic_network_kwargs": {
-            "hidden_dims": [256, 256],
-            "activate_final": true,
-            "final_activation": null
-        },
+        "device": "cuda",
+        "use_amp": false,
         "actor_network_kwargs": {
             "hidden_dims": [256, 256],
             "activate_final": true
@@ -159,14 +157,73 @@
             "std_max": 5,
             "init_final": 0.05
         },
+        "discrete_critic_network_kwargs": {
+            "hidden_dims": [256, 256],
+            "activate_final": true,
+            "final_activation": null
+        },
         "actor_learner_config": {
             "learner_host": "127.0.0.1",
             "learner_port": 50051,
-            "policy_parameters_push_frequency": 4
+            "policy_parameters_push_frequency": 50
         },
         "concurrency": {
             "actor": "threads",
             "learner": "threads"
+        },
+        "repo_id": null
+    },
+    "env": {
+        "type": "gym_manipulator",
+        "name": "gym_hil",
+        "task": "PandaPickCubeGamepad-v0",
+        "fps": 10,
+        "robot": null,
+        "teleop": null,
+        "processor": {
+            "control_mode": "gamepad",
+            "gripper": {
+                "use_gripper": true,
+                "gripper_penalty": -0.02
+            },
+            "reset": {
+                "fixed_reset_joint_positions": [
+                    0.0,
+                    0.195,
+                    0.0,
+                    -2.43,
+                    0.0,
+                    2.62,
+                    0.785
+                ],
+                "reset_time_s": 1.0,
+                "control_time_s": 15.0
+            },
+            "image_preprocessing": null
+        },
+        "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"
         }
     }
 }

rl/train_config.json

@@ -1,6 +1,6 @@
 {
     "output_dir": null,
-    "job_name": "default",
+    "job_name": "so100_hilserl",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -8,18 +8,48 @@
     "steps": 100000,
     "log_freq": 500,
     "save_checkpoint": true,
-    "save_freq": 2000000,
+    "save_freq": 5000,
     "wandb": {
         "enable": true,
         "project": "so100_real",
         "disable_artifact": true
     },
     "dataset": {
-        "repo_id": "aractingi/pick_lift_cube_pipeline_test_cropped_resized",
+        "repo_id": "lilkm/so100_gamepad_insert_high_quality",
         "use_imagenet_stats": false
     },
-    "policy": {
+    "algorithm": {
         "type": "sac",
+        "actor_lr": 3e-4,
+        "critic_lr": 3e-4,
+        "temperature_lr": 3e-4,
+        "discount": 0.97,
+        "use_backup_entropy": true,
+        "critic_target_update_weight": 0.005,
+        "num_critics": 2,
+        "num_subsample_critics": null,
+        "critic_network_kwargs": {
+            "hidden_dims": [256, 256],
+            "activate_final": true,
+            "final_activation": null
+        },
+        "discrete_critic_network_kwargs": {
+            "hidden_dims": [256, 256],
+            "activate_final": true,
+            "final_activation": null
+        },
+        "temperature_init": 0.01,
+        "target_entropy": null,
+        "utd_ratio": 2,
+        "policy_update_freq": 1,
+        "grad_clip_norm": 10.0,
+        "use_torch_compile": false
+    },
+    "mixer": "online_offline",
+    "online_ratio": 0.5,
+    "policy": {
+        "type": "gaussian_actor",
+        "push_to_hub": false,
         "n_obs_steps": 1,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
@@ -30,131 +60,57 @@
         "input_features": {
             "observation.images.top": {
                 "type": "VISUAL",
-                "shape": [
-                    3,
-                    128,
-                    128
-                ]
+                "shape": [3, 128, 128]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [3, 128, 128]
             },
             "observation.state": {
                 "type": "STATE",
-                "shape": [
-                    18
-                ]
+                "shape": [18]
             }
         },
         "output_features": {
             "action": {
                 "type": "ACTION",
-                "shape": [
-                    3
-                ]
+                "shape": [3]
             }
         },
-        "device": "cuda",
-        "use_amp": false,
         "dataset_stats": {
             "observation.images.top": {
-                "mean": [
-                    0.485,
-                    0.456,
-                    0.406
-                ],
-                "std": [
-                    0.229,
-                    0.224,
-                    0.225
-                ]
+                "mean": [0.485, 0.456, 0.406],
+                "std": [0.229, 0.224, 0.225]
+            },
+            "observation.images.wrist": {
+                "mean": [0.485, 0.456, 0.406],
+                "std": [0.229, 0.224, 0.225]
             },
             "observation.state": {
-                "min": [
-                    -15.0,
-                    -20.0,
-                    10.0,
-                    65.0,
-                    0.0,
-                    0.0,
-                    -40.0,
-                    -60.0,
-                    -50.0,
-                    -80.0,
-                    -10.0,
-                    -110.0,
-                    0.26,
-                    -0.06,
-                    0.25
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+                "max": [1.0, 1.0, 1.0]
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         },
         "num_discrete_actions": 3,
+        "device": "cuda",
         "storage_device": "cuda",
-        "vision_encoder_name": "helper2424/resnet10",
+        "use_amp": false,
+        "vision_encoder_name": "lerobot/resnet10",
         "freeze_vision_encoder": true,
         "image_encoder_hidden_dim": 32,
         "shared_encoder": true,
         "online_steps": 1000000,
-        "online_env_seed": 10000,
         "online_buffer_capacity": 30000,
-        "offline_buffer_capacity": 10000,
-        "online_step_before_learning": 10,
-        "policy_update_freq": 1,
-        "discount": 0.97,
-        "async_prefetch": false,
-        "temperature_init": 0.01,
-        "num_critics": 2,
-        "num_subsample_critics": null,
-        "critic_lr": 0.0003,
-        "actor_lr": 0.0003,
-        "temperature_lr": 0.0003,
-        "critic_target_update_weight": 0.005,
-        "utd_ratio": 2,
+        "offline_buffer_capacity": 20000,
+        "online_step_before_learning": 100,
         "state_encoder_hidden_dim": 256,
-        "latent_dim": 256,
-        "target_entropy": null,
-        "use_backup_entropy": true,
-        "grad_clip_norm": 40.0,
-        "critic_network_kwargs": {
-            "hidden_dims": [
-                256,
-                256
-            ],
-            "activate_final": true,
-            "final_activation": null
-        },
+        "latent_dim": 64,
         "actor_network_kwargs": {
-            "hidden_dims": [
-                256,
-                256
-            ],
+            "hidden_dims": [256, 256],
             "activate_final": true
         },
         "policy_kwargs": {
@@ -166,27 +122,40 @@
         "actor_learner_config": {
             "learner_host": "127.0.0.1",
             "learner_port": 50051,
-            "policy_parameters_push_frequency": 4
+            "policy_parameters_push_frequency": 50
         },
         "concurrency": {
             "actor": "threads",
             "learner": "threads"
         },
-        "repo_id": "aractingi/pick_lift_cube_policy"
+        "repo_id": null
     },
     "env": {
         "type": "gym_manipulator",
-                "robot": {
+        "name": "real_robot",
+        "fps": 10,
+        "task": "usb insert",
+        "robot": {
             "type": "so100_follower",
             "port": "/dev/ttyACM0",
-            "id": "turqoise",
+            "use_degrees": true,
+            "id": "blue_follower",
             "cameras": {
                 "top": {
                     "type": "opencv",
-                    "index_or_path": 2,
+                    "index_or_path": "/dev/video2",
                     "height": 480,
                     "width": 640,
-                    "fps": 30
+                    "fps": 30,
+                    "fourcc": "MJPG"
+                },
+                "wrist": {
+                    "type": "opencv",
+                    "index_or_path": "/dev/video4",
+                    "height": 480,
+                    "width": 640,
+                    "fps": 30,
+                    "fourcc": "MJPG"
                 }
             }
         },
@@ -196,90 +165,69 @@
         },
         "processor": {
             "control_mode": "gamepad",
+            "max_gripper_pos": 30,
             "observation": {
                 "display_cameras": false,
                 "add_joint_velocity_to_observation": true,
                 "add_current_to_observation": true,
-                "add_ee_pose_to_observation": true
+                "add_ee_pose_to_observation": false
             },
             "image_preprocessing": {
-                "crop_params_dict": {
-                  "observation.images.top": [49, 189, 262, 305]
-                },
+                "crop_params_dict": null,
                 "resize_size": [128, 128]
             },
             "gripper": {
                 "use_gripper": true,
-                "gripper_penalty": -0.02,
-                "gripper_penalty_in_reward": false
+                "gripper_penalty": -0.02
             },
             "reset": {
-                "fixed_reset_joint_positions": [
-                    0.0,
-                    0.0,
-                    0.0,
-                    90.0,
-                    0.0,
-                    30.0
-                ],
+                "fixed_reset_joint_positions": [0.0, -20.0, 25.0, 90.0, 90.0, 30.0],
                 "reset_time_s": 2.5,
-                "control_time_s": 20.0,
+                "control_time_s": 30.0,
                 "terminate_on_success": true
             },
             "inverse_kinematics": {
-                "urdf_path": "/home/rcadene/code/SO-ARM100/Simulation/SO101/so101_new_calib.urdf",
+                "urdf_path": "./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
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+                    "min": [0.115, -0.145, -0.0075],
+                    "max": [0.26, 0.145, 0.1]
                 },
                 "end_effector_step_sizes": {
-                    "x": 0.02,
-                    "y": 0.02,
-                    "z": 0.02
+                    "x": 0.009,
+                    "y": 0.009,
+                    "z": 0.01
                 }
             },
             "reward_classifier": {
                 "pretrained_path": null,
                 "success_threshold": 0.5,
                 "success_reward": 1.0
-            },
-            "max_gripper_pos": 30
+            }
         },
-        "name": "real_robot",
-        "fps": 10,
-
-        "task": "",
         "features": {
             "observation.images.top": {
                 "type": "VISUAL",
-                "shape": [
-                    3,
-                    128,
-                    128
-                ]
+                "shape": [3, 128, 128]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [3, 128, 128]
             },
             "observation.state": {
                 "type": "STATE",
-                "shape": [
-                    18
-                ]
+                "shape": [18]
             },
             "action": {
                 "type": "ACTION",
-                "shape": [
-                    3
-                ]
+                "shape": [3]
             }
         },
-        "features_map": {"observation.images.top": "observation.images.top", "observation.state": "observation.state","action":"action"}
+        "features_map": {
+            "observation.images.top": "observation.images.top",
+            "observation.images.wrist": "observation.images.wrist",
+            "observation.state": "observation.state",
+            "action": "action"
+        }
     }
 }