| { | |
| "crisp_gym_version": "4.0.0", | |
| "crisp_py_version": "3.0.0", | |
| "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": 1046.0, | |
| "max_value": 2065.0, | |
| "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": 0.1 | |
| }, | |
| "camera_config": [ | |
| { | |
| "camera_color_image_topic": "left_third_person_camera/image_raw", | |
| "camera_color_info_topic": "left_third_person_camera/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 | |
| }, | |
| { | |
| "camera_color_image_topic": "anyskin/image_raw", | |
| "camera_color_info_topic": "anyskin/camera_info", | |
| "camera_name": "tactile", | |
| "camera_frame": "tactile_link", | |
| "max_image_delay": 1.0, | |
| "resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "crop_width": null, | |
| "crop_height": null | |
| } | |
| ], | |
| "sensor_config": [ | |
| { | |
| "shape": [ | |
| 15 | |
| ], | |
| "sensor_type": "float32_array", | |
| "name": "tactile_sensor", | |
| "data_topic": "/left/anyskin/tactile_data", | |
| "max_data_delay": 1.0, | |
| "buffer_size": null, | |
| "reset_service": "/left/anyskin/reset" | |
| }, | |
| { | |
| "shape": [ | |
| 6 | |
| ], | |
| "sensor_type": "force_torque", | |
| "name": "ft_sensor", | |
| "data_topic": "/left/external_wrench", | |
| "max_data_delay": 1.0, | |
| "buffer_size": null, | |
| "reset_service": null | |
| } | |
| ], | |
| "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS", | |
| "gripper_threshold": 0.1, | |
| "cartesian_control_param_config": "None", | |
| "joint_control_param_config": "None" | |
| } | |
| } |