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meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v2.1",
     "robot_type": null,
-    "total_episodes": 38,
-    "total_frames": 8664,
+    "total_episodes": 50,
+    "total_frames": 11694,
     "total_tasks": 1,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 30,
     "splits": {
-        "train": "0:38"
+        "train": "0:50"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": null,

teleop.yaml

@@ -0,0 +1,61 @@
+perception:
+  cam_type: realsense
+  cameras:
+    ego_global:
+      serial: '242522072024'
+      resolution:
+      - 640
+      - 360
+      resize:
+      - 640
+      - 360
+      extrinsics_path: /data/pulkitag/hamer_diffusion_policy_project/calibration/2025-09-11/22-34-29/extrinsics.npz
+      intrinsics_path: /data/pulkitag/hamer_diffusion_policy_project/calibration/2025-09-11/22-34-29/intrinsics.json
+      flip_hw: true
+      enable_depth: false
+      visualize_hands: false
+      hand_bbox_checkpoint: /home/richard/checkpoints/ego4d_model_0109999.pth
+      hand_3d_recon_checkpoint: null
+    wrist:
+      serial: '230322277032'
+      resolution:
+      - 360
+      - 640
+      resize:
+      - 360
+      - 640
+      extrinsics_path: None
+      intrinsics_path: None
+      flip_hw: false
+      enable_depth: false
+  framerate: 30
+randomize: true
+frequency: 30
+command_latency: 0.001
+ee_frame_name: gripper_base
+wrist: false
+teleop:
+  controller:
+    name: MultiSpacemouseControl
+    port: 8888
+  max_pos_speed: 2
+  max_rot_speed: 2
+  num_demos: 50
+  randomize: true
+  record_while_closing: true
+  ik_type: pink
+  render_ee_frame: false
+  print_tcp_frame_wrt_cam: true
+  gripper_force_in_nm: 5000
+  max_samples: 1200
+  robot: piper
+training:
+  image_keys:
+  - ego_global
+  - wrist
+  obs_dim: 10
+  action_dim: 10
+  repo: rli14/task_book_leaves
+  task: pick
+  split: train
+  joint_dim: 6