| { |
| "control_space": "joint_target", |
| "control_freq_hz": 15.0, |
| "origin": [ |
| "sim" |
| ], |
| "robot_type": "cutting.slice_banana.franka.diff_ik", |
| "state_names": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "gripper" |
| ], |
| "action_names": [ |
| "panda_joint1_target", |
| "panda_joint2_target", |
| "panda_joint3_target", |
| "panda_joint4_target", |
| "panda_joint5_target", |
| "panda_joint6_target", |
| "panda_joint7_target", |
| "gripper" |
| ], |
| "state_parts": { |
| "arm_qpos": [ |
| 0, |
| 7 |
| ], |
| "gripper_qpos": [ |
| 7, |
| 8 |
| ] |
| }, |
| "action_parts": { |
| "arm_qpos_target": [ |
| 0, |
| 7 |
| ], |
| "gripper_target": [ |
| 7, |
| 8 |
| ] |
| }, |
| "gripper": "closedness in [0,1]: 0 = fully open, 1 = fully closed", |
| "idle_filter": { |
| "enabled": false, |
| "dropped_ticks": 0 |
| }, |
| "video_encoder": { |
| "vcodec": "h264", |
| "pix_fmt": "yuv420p", |
| "crf": 23, |
| "g": 4, |
| "gop_seconds": 0.25, |
| "preset": null |
| }, |
| "video_files": { |
| "max_seconds": 400.0, |
| "size_mb": 34, |
| "longest_s": 860.0 |
| }, |
| "workers": 8, |
| "raw_command": true, |
| "controller": { |
| "class": "FrankaRobot", |
| "leaves": [ |
| { |
| "class": "DiffIKController", |
| "control_period": 16, |
| "control_dt": 0.06666666666666667, |
| "cfg": { |
| "dt": 0.02, |
| "ee_body": "panda_hand", |
| "arm_joint_names": [ |
| "panda_joint[1-7]" |
| ], |
| "ik_method": "dls", |
| "ik_lambda": 0.05, |
| "pos_scale": 0.02, |
| "rot_scale": 0.097, |
| "max_dq": 0.06, |
| "lead_max": 0.2, |
| "ema_factor": 1.0, |
| "clamp_joint_limits": true |
| } |
| }, |
| { |
| "class": "JointController", |
| "control_period": 16, |
| "control_dt": 0.06666666666666667, |
| "cfg": { |
| "dt": 0.02, |
| "joint_names": [ |
| "panda_finger_joint.*" |
| ], |
| "scale": 1.0, |
| "offset": 0.0 |
| } |
| } |
| ], |
| "joint_names": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "panda_finger_joint1", |
| "panda_finger_joint2" |
| ], |
| "joint_stiffness": [ |
| 400.0, |
| 400.0, |
| 400.0, |
| 400.0, |
| 400.0, |
| 400.0, |
| 400.0, |
| 20000.0, |
| 20000.0 |
| ], |
| "joint_damping": [ |
| 80.0, |
| 80.0, |
| 80.0, |
| 80.0, |
| 80.0, |
| 80.0, |
| 80.0, |
| 200.0, |
| 200.0 |
| ] |
| }, |
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