lerobot/lerobot/configs/env/dora_aloha_real.yaml

# @package _global_

fps: 30

env:
  name: dora
  task: DoraAloha-v0
  state_dim: 14
  action_dim: 14
  fps: ${fps}
  episode_length: 400
  real_world: true
  gym:
    fps: ${fps}