File size: 3,043 Bytes
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"env_info": {
"env_name": "",
"robot": "PandaOmron",
"controller_configs": {
"type": "HYBRID_MOBILE_BASE",
"body_parts": {
"right": {
"type": "OSC_POSE",
"input_max": 1,
"input_min": -1,
"output_max": [0.085, 0.085, 0.085, 0.125, 0.125, 0.125],
"output_min": [-0.085, -0.085, -0.085, -0.125, -0.125, -0.125],
"kp": 120,
"damping_ratio": 1.5,
"impedance_mode": "fixed",
"kp_limits": [0, 300],
"damping_ratio_limits": [0, 10],
"input_type": "delta",
"input_ref_frame": "base",
"interpolation": "cubic",
"ramp_ratio": 0.4,
"gripper": {
"type": "GRIP"
}
},
"torso": {
"type": "JOINT_POSITION",
"interpolation": "null",
"kp": 2000
},
"base": {
"type": "JOINT_VELOCITY",
"interpolation": "null"
}
},
"composite_controller_specific_configs": {
"body_part_ordering": ["right", "right_gripper", "base", "torso"]
}
},
"gripper_types": "Robotiq140Gripper",
"layout_and_style_ids": [[]],
"translucent_robot": true,
"obj_instance_split": "A"
},
"camera_configs": {
"robot0_eye_in_hand": {
"position": { "x": 0.05, "y": 0, "z": 0 },
"quaternion": { "w": 0, "x": 0.707107, "y": 0.707107, "z": 0 },
"field_of_view": "45",
"description": "Eye-in-hand camera mounted on gripper"
},
"robot0_agentview_left": {
"position": { "x": -0.5, "y": 0.35, "z": 1.05 },
"quaternion": { "w": 0.55623853, "x": 0.29935253, "y": -0.37678665, "z": -0.6775092 },
"field_of_view": "60",
"description": "Shoulder camera mounted on robot base"
},
"robot0_agentview_right": {
"position": { "x": -0.5, "y": -0.35, "z": 1.05 },
"quaternion": { "w": 0.6775091886520386, "x": 0.3767866790294647, "y": -0.2993525564670563, "z": -0.55623859167099 },
"field_of_view": "60",
"description": "Shoulder camera mounted on robot base"
},
"robot0_agentview_center": {
"position": { "x": -0.6, "y": 0, "z": 1.15 },
"quaternion": { "w": 0.636945903301239, "x": 0.3325185477733612, "y": -0.3199238181114197, "z": -0.6175596117973328 },
"field_of_view": "45",
"description": "Shoulder camera mounted on robot base at height 1.15m"
}
},
"layout_and_style_keys": {
"layout": {
"0": "ONE_WALL_SMALL"
},
"style": {
"0": "INDUSTRIAL",
"1": "SCANDANAVIAN".
"2": "COASTAL",
"3": "MODERN_1",
"4": "MODERN_2",
"6": "TRADITIONAL_2",
"7": "FARMHOUSE",
"8": "RUSTIC",
"9": "MEDITERRANEAN",
"11": "TRANSITIONAL_2"
}
}
}
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