{
    "env": {
        "name": "real_robot",
        "fps": 10,
        "robot": {
            "type": "so100_follower",
            "port": "/dev/ttyACM0",
            "use_degrees": true,
            "id": "blue_follower",
            "cameras": {
                "top": {
                    "type": "opencv",
                    "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,
                    "fourcc": "MJPG"
                }
            }
        },
        "teleop": {
            "type": "gamepad",
            "use_gripper": true
        },
        "processor": {
            "control_mode": "gamepad",
            "max_gripper_pos": 30,
            "observation": {
                "display_cameras": true,
                "add_joint_velocity_to_observation": true,
                "add_current_to_observation": true,
                "add_ee_pose_to_observation": false
            },
            "image_preprocessing": {
                "crop_params_dict": null,
                "resize_size": [128, 128]
            },
            "gripper": {
                "use_gripper": true,
                "gripper_penalty": -0.02
            },
            "reset": {
                "fixed_reset_joint_positions": [0.0, -20.0, 25.0, 90.0, 90.0, 30.0],
                "reset_time_s": 2.5,
                "control_time_s": 30.0,
                "terminate_on_success": true
            },
            "inverse_kinematics": {
                "urdf_path": "./SO101/so101_new_calib.urdf",
                "target_frame_name": "gripper_frame_link",
                "end_effector_bounds": {
                    "min": [0.115, -0.145, -0.0075],
                    "max": [0.26, 0.145, 0.1]
                },
                "end_effector_step_sizes": {
                    "x": 0.009,
                    "y": 0.009,
                    "z": 0.01
                }
            },
            "reward_classifier": {
                "pretrained_path": null,
                "success_threshold": 0.5,
                "success_reward": 1.0
            }
        }
    },
    "dataset": {
        "repo_id": "lilkm/so100_gamepad_insert_high_quality",
        "root": null,
        "task": "insert usb",
        "num_episodes_to_record": 30,
        "replay_episode": null,
        "push_to_hub": true
    },
    "mode": "record",
    "device": "cuda"
}