| { | |
| "robot_name": "franka_panda", | |
| "is_biarm": false, | |
| "uses_mobile_base": false, | |
| "gripper_name": "robotiq_2f_85", | |
| "control_freq": 12, | |
| "camera_names": [ | |
| "left_ego_image", | |
| "wrist_image", | |
| "image" | |
| ], | |
| "robot_state_keys": [ | |
| "cartesian_position", | |
| "gripper_position" | |
| ], | |
| "robot_state_joint_names": [], | |
| "action_space": [ | |
| "cartesian_position", | |
| "gripper_position" | |
| ], | |
| "action_joint_names": null, | |
| "orientation_representation": "rotvec", | |
| "robot_state_orientation_representation": "rotvec", | |
| "controller": "joint_position", | |
| "gains": { | |
| "joint_position": { | |
| "kp": [ | |
| 60.0, | |
| 45.0, | |
| 75.0, | |
| 37.5, | |
| 52.5, | |
| 37.5, | |
| 15.0 | |
| ], | |
| "kd": [ | |
| 6.0, | |
| 9.0, | |
| 7.5, | |
| 7.5, | |
| 4.5, | |
| 3.0, | |
| 1.5 | |
| ] | |
| }, | |
| "joint_velocity": { | |
| "kv": null | |
| }, | |
| "osc": { | |
| "kp_pos": null, | |
| "kd_pos": null, | |
| "kp_ori": null, | |
| "kd_ori": null | |
| } | |
| }, | |
| "intrinsic_calibration_matrix": { | |
| "wrist_image": [ | |
| [ | |
| 160.24309726931034, | |
| 0, | |
| 112.55366141841085 | |
| ], | |
| [ | |
| 0, | |
| 282.88584798177106, | |
| 117.76103515625 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "left_ego_image": [ | |
| [ | |
| 160.47113382591414, | |
| 0, | |
| 111.28915002211072 | |
| ], | |
| [ | |
| 0, | |
| 282.78766682942717, | |
| 111.38432312011733 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "image": [ | |
| [ | |
| 159.40882268941607, | |
| 0, | |
| 111.12941641177781 | |
| ], | |
| [ | |
| 0, | |
| 281.47174886067717, | |
| 110.3765207926432 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ] | |
| }, | |
| "extrinsic_calibration_matrix": null | |
| } | |