Datasets:
File size: 1,384 Bytes
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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_pull_red
task: pick
split: train
joint_dim: 6
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