Datasets:
| 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 | |