| { |
| "type": "WHOLE_BODY_MINK_IK", |
| "composite_controller_specific_configs": { |
| "ref_name": ["gripper0_right_grip_site", "gripper0_left_grip_site"], |
| "interpolation": null, |
| "actuation_part_names": ["torso", "head", "right", "left"], |
| "max_dq": 4, |
| "ik_pseudo_inverse_damping": 5e-2, |
| "ik_integration_dt": 1e-1, |
| "ik_input_type": "absolute", |
| "ik_input_ref_frame": "base", |
| "ik_input_rotation_repr": "axis_angle", |
| "verbose": false, |
| "ik_posture_weights": { |
| "robot0_torso_waist_yaw": 10.0, |
| "robot0_torso_waist_pitch": 10.0, |
| "robot0_torso_waist_roll": 200.0, |
| "robot0_l_shoulder_pitch": 4.0, |
| "robot0_r_shoulder_pitch": 4.0, |
| "robot0_l_shoulder_roll": 3.0, |
| "robot0_r_shoulder_roll": 3.0, |
| "robot0_l_shoulder_yaw": 2.0, |
| "robot0_r_shoulder_yaw": 2.0 |
| }, |
| "ik_hand_pos_cost": 1.0, |
| "ik_hand_ori_cost": 0.5, |
| "use_joint_angle_action_input": false |
| }, |
| "body_parts": { |
| "arms": { |
| "right": { |
| "type" : "JOINT_POSITION", |
| "input_max": 1, |
| "input_min": -1, |
| "input_type": "absolute", |
| "output_max": 0.5, |
| "output_min": -0.5, |
| "kd": 200, |
| "kv": 200, |
| "kp": 1000, |
| "velocity_limits": [-1,1], |
| "kp_limits": [0, 1000], |
| "interpolation": null, |
| "ramp_ratio": 0.2, |
| "gripper": { |
| "type": "GRIP", |
| "use_action_scaling": false |
| } |
| }, |
| "left": { |
| "type" : "JOINT_POSITION", |
| "input_max": 1, |
| "input_min": -1, |
| "input_type": "absolute", |
| "output_max": 0.5, |
| "output_min": -0.5, |
| "kd": 200, |
| "kv": 200, |
| "kp": 1000, |
| "velocity_limits": [-1,1], |
| "kp_limits": [0, 1000], |
| "interpolation": null, |
| "ramp_ratio": 0.2, |
| "gripper": { |
| "type": "GRIP", |
| "use_action_scaling": false |
| } |
| } |
| }, |
| "torso": { |
| "type" : "JOINT_POSITION", |
| "input_max": 1, |
| "input_min": -1, |
| "input_type": "absolute", |
| "output_max": 0.5, |
| "output_min": -0.5, |
| "kd": 200, |
| "kv": 200, |
| "kp": 1000, |
| "velocity_limits": [-1,1], |
| "kp_limits": [0, 1000], |
| "interpolation": null, |
| "ramp_ratio": 0.2 |
| }, |
| "head": { |
| "type" : "JOINT_POSITION", |
| "input_max": 1, |
| "input_min": -1, |
| "input_type": "absolute", |
| "output_max": 0.5, |
| "output_min": -0.5, |
| "kd": 200, |
| "kv": 200, |
| "kp": 1000, |
| "velocity_limits": [-1,1], |
| "kp_limits": [0, 1000], |
| "interpolation": null, |
| "ramp_ratio": 0.2 |
| } |
| } |
| } |
|
|
