{
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    "control_type": "CARTESIAN",
    "env_config": {
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                "panda_joint5",
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            "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",
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            "time_to_home": 5.0,
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            "tf_retrieve_rate": 50.0,
            "use_prefix": false
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        "gripper_config": {
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            "command_topic": "/left/gripper/gripper_position_controller/commands",
            "closing_command_topic": "/left/gripper/gripper_closing_controller/commands",
            "joint_state_topic": "/left/gripper/joint_states",
            "closing_state_topic": "/left/gripper/closing_state",
            "reboot_service": "reboot_gripper",
            "stop_service": "/left/panda_gripper/stop",
            "enable_torque_service": "dynamixel_hardware_interface/set_dxl_torque",
            "index": 0,
            "publish_frequency": 30.0,
            "max_joint_delay": 1.0,
            "max_delta": 0.1
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        "camera_config": [
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                "camera_color_image_topic": "/camera/third_person_camera/color/image_raw",
                "camera_color_info_topic": "/camera/third_person_camera/color/camera_info",
                "camera_name": "primary",
                "camera_frame": "primary_link",
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                "resolution": [
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                "crop_height": null
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            {
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                "camera_color_info_topic": "/camera/wrist_camera/color/camera_info",
                "camera_name": "wrist",
                "camera_frame": "wrist_link",
                "max_image_delay": 1.0,
                "resolution": [
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                "crop_width": null,
                "crop_height": null
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        ],
        "sensor_config": [],
        "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
        "gripper_threshold": 0.1,
        "cartesian_control_param_config": "/home/cbrian/crisp_gym_debug/crisp_gym_ITR/.pixi/envs/jazzy-lerobot/lib/python3.12/site-packages/crisp_py/config/control/default_cartesian_impedance.yaml",
        "joint_control_param_config": "/home/cbrian/crisp_gym_debug/crisp_gym_ITR/.pixi/envs/jazzy-lerobot/lib/python3.12/site-packages/crisp_py/config/control/joint_control.yaml",
        "orientation_representation": "OrientationRepresentation.EULER",
        "use_relative_actions": true
    }
}