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