Add files using upload-large-folder tool

meta/crisp_meta.json

@@ -0,0 +1,107 @@
+{
+    "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": 2052.0,
+            "max_value": 3121.0,
+            "command_topic": "/left/gripper/dynamixel_motor/command",
+            "joint_state_topic": "/left/gripper/dynamixel_motor/joint_states",
+            "reboot_service": "reboot_gripper",
+            "enable_torque_service": "/left/gripper/dynamixel_motor/set_torque",
+            "index": 0,
+            "publish_frequency": 30.0,
+            "max_joint_delay": 1.0,
+            "max_delta": 0.7
+        },
+        "camera_config": [
+            {
+                "camera_color_image_topic": "left_third_person_camera_shaotong/color/image_raw",
+                "camera_color_info_topic": "left_third_person_camera_shaotong/color/camera_info",
+                "camera_depth_image_topic": "left_third_person_camera_shaotong/depth/image_raw",
+                "camera_depth_info_topic": "left_third_person_camera_shaotong/depth/camera_info",
+                "camera_name": "left_third_person_camera",
+                "camera_frame": "primary_link",
+                "max_image_delay": 1.0,
+                "resolution": [
+                    360,
+                    640
+                ],
+                "crop_width": null,
+                "crop_height": null
+            },
+            {
+                "camera_color_image_topic": "left_wrist_camera/color/image_rect_raw",
+                "camera_color_info_topic": "left_wrist_camera/color/camera_info",
+                "camera_depth_image_topic": "left_wrist_camera/depth/image_rect_raw",
+                "camera_depth_info_topic": "left_wrist_camera/depth/camera_info",
+                "camera_name": "wrist",
+                "camera_frame": "wrist_link",
+                "max_image_delay": 1.0,
+                "resolution": [
+                    360,
+                    640
+                ],
+                "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
+    }
+}

meta/episodes.jsonl

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+                "sensors_ft_sensor_0",
+                "sensors_ft_sensor_1",
+                "sensors_ft_sensor_2",
+                "sensors_ft_sensor_3",
+                "sensors_ft_sensor_4",
+                "sensors_ft_sensor_5"
+            ]
+        },
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+                "target_y",
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+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "sensors_ft_sensor_0",
+                "sensors_ft_sensor_1",
+                "sensors_ft_sensor_2",
+                "sensors_ft_sensor_3",
+                "sensors_ft_sensor_4",
+                "sensors_ft_sensor_5",
+                "target_x",
+                "target_y",
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+                "target_pitch",
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+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1,6 @@
+{"task_index": 0, "task": "SCENE3_pick_up_the_milk_and_place_it_in_the_basket_safe"}
+{"task_index": 1, "task": "SCENE3_pick_up_the_milk_and_place_it_in_the_basket_unsafe"}
+{"task_index": 2, "task": "SCENE3_pick_up_the_tomato_sauce_and_place_it_in_the_basket_safe"}
+{"task_index": 3, "task": "SCENE3_pick_up_the_tomato_sauce_and_place_it_in_the_basket_unsafe"}
+{"task_index": 4, "task": "SCENE3_pick_up_the_butter_and_place_it_in_the_basket_safe"}
+{"task_index": 5, "task": "SCENE3_pick_up_the_butter_and_place_it_in_the_basket_unsafe"}