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{
"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.RELATIVE_CONTINUOUS",
"gripper_threshold": 0.1,
"cartesian_control_param_config": "None",
"joint_control_param_config": "None"
}
} |