{
    "crisp_gym_version": "4.1.0",
    "crisp_py_version": "3.0.0",
    "control_type": "CARTESIAN",
    "env_config": {
        "robot_config": {
            "joint_names": [
                "fr3_joint1",
                "fr3_joint2",
                "fr3_joint3",
                "fr3_joint4",
                "fr3_joint5",
                "fr3_joint6",
                "fr3_joint7"
            ],
            "home_config": [
                -0.017396011,
                0.0955319758,
                0.000809703053,
                -1.94272034,
                -0.00401435784,
                2.06584183,
                0.797426445
            ],
            "base_frame": "base",
            "target_frame": "fr3_hand_tcp",
            "default_controller": "cartesian_impedance_controller",
            "cartesian_impedance_controller_name": "cartesian_impedance_controller",
            "joint_trajectory_controller_name": "joint_impedance_controller",
            "target_pose_topic": "target_pose",
            "target_joint_topic": "target_joint",
            "current_pose_topic": "current_pose",
            "current_joint_topic": "joint_states",
            "current_twist_topic": "current_twist",
            "publish_frequency": 50.0,
            "time_to_home": 2.0,
            "max_pose_delay": 1.0,
            "max_joint_delay": 1.0,
            "use_tf_pose": false,
            "tf_retrieve_rate": 50.0,
            "use_prefix": false
        },
        "gripper_config": {
            "min_value": 1046.0,
            "max_value": 2065.0,
            "command_topic": "/left/gripper/dynamixel_motor/command",
            "joint_state_topic": "/left/gripper/dynamixel_motor/joint_states",
            "reboot_service": "reboot_gripper",
            "enable_torque_service": "/left/gripper/dynamixel_motor/set_torque",
            "index": 0,
            "publish_frequency": 30.0,
            "max_joint_delay": 1.0,
            "max_delta": 0.135
        },
        "camera_config": [
            {
                "camera_color_image_topic": "/right/right_down_third_person_camera/color/image_raw",
                "camera_color_info_topic": "/right/right_down_third_person_camera/color/camera_info",
                "camera_name": "primary",
                "camera_frame": "primary_link",
                "max_image_delay": 1.0,
                "resolution": [
                    256,
                    256
                ],
                "crop_width": null,
                "crop_height": null
            },
            {
                "camera_color_image_topic": "left_wrist_camera/color/image_rect_raw",
                "camera_color_info_topic": "left_wrist_camera/color/camera_info",
                "camera_name": "wrist",
                "camera_frame": "wrist_link",
                "max_image_delay": 1.0,
                "resolution": [
                    256,
                    256
                ],
                "crop_width": null,
                "crop_height": null
            },
            {
                "camera_color_image_topic": "anyskin/image_raw",
                "camera_color_info_topic": "anyskin/camera_info",
                "camera_name": "tactile",
                "camera_frame": "tactile_link",
                "max_image_delay": 1.0,
                "resolution": [
                    256,
                    256
                ],
                "crop_width": null,
                "crop_height": null
            }
        ],
        "sensor_config": [
            {
                "shape": [
                    15
                ],
                "sensor_type": "float32_array",
                "name": "tactile_sensor",
                "data_topic": "/left/anyskin/tactile_data",
                "max_data_delay": 1.0,
                "buffer_size": null,
                "reset_service": "/left/anyskin/reset"
            },
            {
                "shape": [
                    6
                ],
                "sensor_type": "force_torque",
                "name": "ft_sensor",
                "data_topic": "/left/external_wrench",
                "max_data_delay": 1.0,
                "buffer_size": null,
                "reset_service": null
            }
        ],
        "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
        "gripper_threshold": 0.1,
        "cartesian_control_param_config": "None",
        "joint_control_param_config": "None",
        "orientation_representation": "OrientationRepresentation.ANGLE_AXIS",
        "use_relative_actions": true
    }
}