| { |
| "crisp_gym_version": "4.2.1", |
| "crisp_py_version": "3.4.0", |
| "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": 2052.0, |
| "max_value": 3121.0, |
| "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": 0.8, |
| "use_gripper_command_action": false, |
| "max_effort": 10.0 |
| }, |
| "camera_config": [ |
| { |
| "camera_color_image_topic": "right_down_third_person_camera/color/image_raw", |
| "camera_color_info_topic": "right_down_third_person_camera/color/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 |
| } |
| ], |
| "sensor_config": [], |
| "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS", |
| "gripper_threshold": 0.1, |
| "cartesian_control_param_config": "None", |
| "joint_control_param_config": "None", |
| "orientation_representation": "OrientationRepresentation.EULER", |
| "use_relative_actions": true |
| } |
| } |
