File size: 3,905 Bytes
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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": [
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"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": 5.0,
"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": "/left/gripper/gripper_position_commands",
"status_command_topic": "/left/gripper/gripper_status_commands",
"joint_state_topic": "/left/gripper/joint_states",
"open_close_state_topic": "/left/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": "/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",
"max_image_delay": 1.0,
"resolution": [
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],
"crop_width": null,
"crop_height": null
},
{
"camera_color_image_topic": "/camera/wrist_camera/color/image_raw",
"camera_color_info_topic": "/camera/wrist_camera/color/camera_info",
"camera_name": "wrist",
"camera_frame": "wrist_link",
"max_image_delay": 1.0,
"resolution": [
256,
342
],
"crop_width": null,
"crop_height": null
}
],
"sensor_config": [],
"gripper_mode": "GripperMode.ABSOLUTE_BINARY",
"gripper_threshold": 0.1,
"cartesian_control_param_config": "/home/cbrian/crsip_gym_with_vlsa/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/crsip_gym_with_vlsa/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
}
} |