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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" | |
| } | |
| } | |
| } | |