lerobot/lerobot/configs/env/dora_reachy2_real.yaml

# @package _global_

fps: 30

env:
  name: dora
  task: DoraReachy2-v0
  state_dim: 22
  action_dim: 22
  fps: ${fps}
  episode_length: 400
  gym:
    fps: ${fps}