|
|
{ |
|
|
"crisp_gym_version": "4.0.0", |
|
|
"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": 1046.0, |
|
|
"max_value": 2065.0, |
|
|
"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": 0.1 |
|
|
}, |
|
|
"camera_config": [ |
|
|
{ |
|
|
"camera_color_image_topic": "left_third_person_camera/image_raw", |
|
|
"camera_color_info_topic": "left_third_person_camera/camera_info", |
|
|
"camera_name": "primary", |
|
|
"camera_frame": "primary_link", |
|
|
"max_image_delay": 1.0, |
|
|
"resolution": [ |
|
|
256, |
|
|
256 |
|
|
], |
|
|
"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_name": "wrist", |
|
|
"camera_frame": "wrist_link", |
|
|
"max_image_delay": 1.0, |
|
|
"resolution": [ |
|
|
256, |
|
|
256 |
|
|
], |
|
|
"crop_width": null, |
|
|
"crop_height": null |
|
|
}, |
|
|
{ |
|
|
"camera_color_image_topic": "anyskin/image_raw", |
|
|
"camera_color_info_topic": "anyskin/camera_info", |
|
|
"camera_name": "tactile", |
|
|
"camera_frame": "tactile_link", |
|
|
"max_image_delay": 1.0, |
|
|
"resolution": [ |
|
|
256, |
|
|
256 |
|
|
], |
|
|
"crop_width": null, |
|
|
"crop_height": null |
|
|
} |
|
|
], |
|
|
"sensor_config": [ |
|
|
{ |
|
|
"shape": [ |
|
|
15 |
|
|
], |
|
|
"sensor_type": "float32_array", |
|
|
"name": "tactile_sensor", |
|
|
"data_topic": "/left/anyskin/tactile_data", |
|
|
"max_data_delay": 1.0, |
|
|
"buffer_size": null, |
|
|
"reset_service": "/left/anyskin/reset" |
|
|
}, |
|
|
{ |
|
|
"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", |
|
|
"use_relative_actions": false |
|
|
} |
|
|
} |
|
|
|
