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data/chunk-000/file-000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0783b42287bed52e8778a0c78b90d268b46ea3b8b4f19366529c4fac64c478
+size 38093

meta/crisp_meta.json

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+{
+    "crisp_gym_version": "4.2.0",
+    "crisp_py_version": "3.0.0",
+    "control_type": "CARTESIAN",
+    "env_config": {
+        "robot_config": {
+            "joint_names": [
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7"
+            ],
+            "home_config": [
+                1.7285,
+                0.4966,
+                -0.1122,
+                -2.5958,
+                -1.5106,
+                1.6474,
+                0.743
+            ],
+            "base_frame": "base",
+            "target_frame": "panda_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",
+            "current_robot_mode_topic": "robot_mode",
+            "publish_frequency": 50.0,
+            "time_to_home": 10.0,
+            "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": 0.0,
+            "max_value": 0.08,
+            "position_command_topic": "gripper/gripper_position_commands",
+            "status_command_topic": "gripper/gripper_status_commands",
+            "joint_state_topic": "gripper/joint_states",
+            "open_close_state_topic": "gripper/open_close_states",
+            "reboot_service": "reboot_gripper",
+            "enable_torque_service": "dynamixel_hardware_interface/set_dxl_torque",
+            "index": 0,
+            "publish_frequency": 30.0,
+            "max_joint_delay": 1.0,
+            "max_delta": 0.1,
+            "use_binary_status_control": true
+        },
+        "camera_config": [
+            {
+                "camera_color_image_topic": "/gopro/image_raw",
+                "camera_color_info_topic": "/gopro/camera_info",
+                "camera_name": "gopro",
+                "camera_frame": "gopro_link",
+                "max_image_delay": 1.0,
+                "resolution": [
+                    1080,
+                    1920
+                ],
+                "crop_width": null,
+                "crop_height": null
+            }
+        ],
+        "sensor_config": [],
+        "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
+        "gripper_threshold": 0.1,
+        "cartesian_control_param_config": "/home/cbrian/crsip_gym_with_vlsa/crisp_gym_ITR/.pixi/envs/jazzy-groot-aegis/lib/python3.12/site-packages/crisp_py/config/control/default_cartesian_impedance.yaml",
+        "joint_control_param_config": "None",
+        "orientation_representation": "OrientationRepresentation.EULER",
+        "use_relative_actions": true
+    }
+}