File size: 2,540 Bytes
897968d
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
{
  "task": "put_bread_toaster",
  "options": {
    "sim": {
      "control_hz": 20,
      "performance_mode": false,
      "n_envs": 1,
      "physics_substeps": 8,
      "precision": "32"
    },
    "robot": {
      "type_of_robot": "single",
      "single": {
        "manipulator": "floating",
        "gripper": "sharpa_fardexbot",
        "manipulator_controller": {
          "name": "osc_pose_abs_quat",
          "config": {
            "normalized": false,
            "clip": false,
            "lin_range": [
              1.5,
              1.0,
              1.0
            ],
            "position_cost": 2.0,
            "orientation_cost": 2.0,
            "posture_cost": 0.1,
            "damping_cost": 0.01,
            "max_joint_step": 0.35,
            "pos_tol": 0.001,
            "mink_dt": 0.05
          }
        },
        "gripper_controller": {
          "name": "joint_position",
          "config": {
            "normalized": false,
            "clip": false
          }
        },
        "workspace": {
          "min": [
            0.05,
            -0.6,
            -0.1
          ],
          "max": [
            0.8,
            0.6,
            0.7
          ]
        }
      },
      "left": null,
      "right": null,
      "layout": {
        "preset": null,
        "params": {},
        "single": {
          "pos": [
            0.0,
            0.0,
            0.0
          ],
          "yaw_rad": 0.0,
          "quat": null
        },
        "left": null,
        "right": null
      },
      "visualize_tcp": false,
      "visualize_aabb": false
    },
    "cameras": {
      "static": {
        "front": {
          "pos": [
            1.3,
            0.0,
            0.5
          ],
          "lookat": [
            0.0,
            0.0,
            0.0
          ],
          "fov": 75.0,
          "res": [
            224,
            224
          ],
          "gui": false,
          "near": 0.1,
          "far": 20.0
        }
      },
      "dynamic": {
        "wrist": {
          "link": null,
          "pos_offset": [
            0.073,
            0.009,
            -0.0102
          ],
          "quat_offset": [
            0.0,
            0.7071068,
            -0.7071068,
            0.0
          ],
          "fov": 57.3,
          "res": [
            224,
            224
          ],
          "gui": false,
          "near": 0.005,
          "far": 20.0
        }
      },
      "modalities": [
        "rgb",
        "depth"
      ]
    }
  }
}