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{
"crisp_gym_version": "4.1.0",
"crisp_py_version": "3.0.0",
"control_type": "CARTESIAN",
"env_config": {
"robot_config": {
"joint_names": [
"fr3_joint1",
"fr3_joint2",
"fr3_joint3",
"fr3_joint4",
"fr3_joint5",
"fr3_joint6",
"fr3_joint7"
],
"home_config": [
-0.017396011,
0.0955319758,
0.000809703053,
-1.94272034,
-0.00401435784,
2.06584183,
0.797426445
],
"base_frame": "base",
"target_frame": "fr3_hand_tcp",
"default_controller": "cartesian_impedance_controller",
"cartesian_impedance_controller_name": "cartesian_impedance_controller",
"joint_trajectory_controller_name": "joint_impedance_controller",
"target_pose_topic": "target_pose",
"target_joint_topic": "target_joint",
"current_pose_topic": "current_pose",
"current_joint_topic": "joint_states",
"current_twist_topic": "current_twist",
"publish_frequency": 50.0,
"time_to_home": 2.0,
"max_pose_delay": 1.0,
"max_joint_delay": 1.0,
"use_tf_pose": false,
"tf_retrieve_rate": 50.0,
"use_prefix": false
},
"gripper_config": {
"min_value": 1023.0,
"max_value": 2069.0,
"command_topic": "/right/gripper/dynamixel_motor/command",
"joint_state_topic": "/right/gripper/dynamixel_motor/joint_states",
"reboot_service": "reboot_gripper",
"enable_torque_service": "/right/gripper/dynamixel_motor/set_torque",
"index": 0,
"publish_frequency": 30.0,
"max_joint_delay": 1.0,
"max_delta": 0.9
},
"camera_config": [
{
"camera_color_image_topic": "right_third_person_camera_top_right/color/image_raw",
"camera_color_info_topic": "right_third_person_camera_top_right/color/camera_info",
"camera_name": "right_third_person_camera_top_right",
"camera_frame": "primary_link",
"max_image_delay": 1.0,
"resolution": [
720,
1280
],
"crop_width": null,
"crop_height": null
}
],
"sensor_config": [
{
"shape": [
6
],
"sensor_type": "force_torque",
"name": "ft_sensor",
"data_topic": "/left/external_wrench",
"max_data_delay": 1.0,
"buffer_size": null,
"reset_service": null
}
],
"gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
"gripper_threshold": 0.1,
"cartesian_control_param_config": "None",
"joint_control_param_config": "None",
"orientation_representation": "OrientationRepresentation.EULER",
"use_relative_actions": true
}
} |