Datasets:
File size: 2,406 Bytes
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"task": "stack",
"options": {
"sim": {
"control_hz": 20,
"performance_mode": false,
"n_envs": 1
},
"robot": {
"type_of_robot": "single",
"single": {
"manipulator": "franka",
"gripper": "franka_umi_tacticle",
"manipulator_controller": {
"name": "osc_pose_abs_quat",
"config": {
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"clip": true,
"lin_range": [
1.5,
1.0,
1.0
],
"position_cost": 8.0,
"orientation_cost": 6.0,
"posture_cost": 0.02,
"damping_cost": 0.004,
"max_joint_step": 0.05,
"pos_tol": 0.001,
"mink_substeps": 12,
"rot_tol": 0.001,
"mink_dt": 0.05
}
},
"gripper_controller": {
"name": "joint_position",
"config": {
"normalized": true,
"clip": true
}
},
"workspace": {
"min": [
0.15,
-0.5,
-0.1
],
"max": [
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0.6
]
}
},
"left": null,
"right": null,
"layout": {
"preset": null,
"params": {},
"single": {
"pos": [
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0.0,
0.0
],
"yaw_rad": 0.0,
"quat": null
},
"left": null,
"right": null
},
"visualize_tcp": false,
"visualize_aabb": false
},
"cameras": {
"static": {
"front": {
"pos": [
1.3,
0.0,
0.5
],
"lookat": [
0.0,
0.0,
0.0
],
"fov": 75.0,
"res": [
224,
224
],
"gui": false
},
"right_side": {
"pos": [
0.5,
-1.2,
0.6
],
"lookat": [
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0.5,
0.0
],
"fov": 65.0,
"res": [
224,
224
],
"gui": false
}
},
"dynamic": {
"wrist": "wrist_cam"
},
"modalities": [
"rgb",
"depth"
]
}
}
} |