{ "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 }