| | { |
| | "crisp_gym_version": "3.2.3", |
| | "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": 0.125 |
| | }, |
| | "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.RELATIVE_CONTINUOUS", |
| | "gripper_threshold": 0.1, |
| | "cartesian_control_param_config": "None", |
| | "joint_control_param_config": "None" |
| | } |
| | } |
