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Merged
vikashplus merged 1 commit into from
Jul 3, 2026
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MAJOR: REFACTOR: Improve robot space definitions #169

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36 changes: 18 additions & 18 deletions robohive/envs/arms/fetch/assets/fetch_reach_v0.config
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Original file line number Diff line number Diff line change
Expand Up @@ -3,27 +3,27 @@
'franka':{
'interface': {'type': 'fetch'},
'sensor':[
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan_jp'},
{'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll_jp'},
{'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'elbow_flex_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'forearm_roll_jp'},
{'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_flex_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_roll_jp'},
{'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_jp'},
{'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan_jp'},
{'range':(-1.8, 1.8), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll_jp'},
{'range':(-3.1, 0.0), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'elbow_flex_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'forearm_roll_jp'},
{'range':(-1.7, 3.8), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_flex_jp'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_roll_jp'},
{'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_jp'},
{'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_jp'},
],

'actuator':[
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'elbow_flex'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'forearm_roll'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_flex'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_roll'},
{'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger'},
{'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'elbow_flex'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'forearm_roll'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_flex'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_roll'},
{'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger'},
{'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger'},
]
}
}
48 changes: 24 additions & 24 deletions robohive/envs/arms/franka/assets/franka_busbin_v0.config
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,39 +3,39 @@
'franka':{
'interface': {'type': 'franka', 'ip_address':'169.254.163.91'},
'sensor':[
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
{'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
{'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
{'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
{'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
{'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
{'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},

{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
{'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
{'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
{'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
{'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
],

'actuator':[
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
]
},
# 'busbin':{
# 'interface': {},
# 'sensor':[
# {'range':(-2.0, 0.0), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'???'},
# {'range':(-2.0, 0.0), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'???'},
# ],
# 'actuator':[]
# }
Expand Down
66 changes: 33 additions & 33 deletions robohive/envs/arms/franka/assets/franka_reach_v0.config
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,46 +3,46 @@
'franka':{
'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale':0.5},
'sensor':[
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
{'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
{'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
{'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
# {'range':(0.00, .04), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
# {'range':(0.00, .04), 'noise':0.05, 'hdr_id':8, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
{'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
{'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
{'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
# {'range':(0.00, .04), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
# {'range':(0.00, .04), 'noise':0.05, 'adr':8, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},

# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
# {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
],

'actuator':[
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
# {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
# {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
# {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
# {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
]
},

'right_cam':{
'interface': {'type': 'realsense', 'topic':'realsense_815412070228/color/image_raw', 'data_type':'rgb240x320'},
'sensor':[],
'cam': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
# {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
{'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
# {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},
Expand All @@ -51,8 +51,8 @@
'interface': {'type': 'realsense', 'topic':'realsense_815412070341/color/image_raw', 'data_type':'rgb'},
'sensor':[],
'cam': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
# {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
{'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
# {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},
Expand All @@ -61,8 +61,8 @@
'interface': {'type': 'realsense', 'topic':'realsense_936322070233/color/image_raw', 'data_type':'rgb'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
# {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
{'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
# {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},
Expand Down
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