config.json

{
  "canvas_bounds": {
    "xmin": 0.14,
    "xmax": 0.275,
    "ymin": -0.075,
    "ymax": 0.075
  },
  "paper_height": 0.006,
  "palette": {
    "blue": {
      "position": [
        0.15,
        -0.12,
        0.01
      ],
      "rgb": [
        35,
        112,
        201
      ]
    },
    "green": {
      "position": [
        0.185,
        -0.12,
        0.01
      ],
      "rgb": [
        39,
        148,
        93
      ]
    },
    "orange": {
      "position": [
        0.22,
        -0.12,
        0.01
      ],
      "rgb": [
        240,
        140,
        48
      ]
    },
    "brown": {
      "position": [
        0.255,
        -0.12,
        0.01
      ],
      "rgb": [
        85,
        58,
        35
      ]
    }
  },
  "brush": {
    "nominal_tip_local": [
      0.0041,
      -0.0002,
      -0.13
    ],
    "compression_range": [
      0,
      0.009
    ],
    "spring_stiffness": 120,
    "damping": 0.4,
    "gripper_angle": 0.05
  },
  "clearance_height": 0.025,
  "hover_height": 0.025,
  "contact_height": 0.004,
  "contact_depth": 0.002,
  "gripper_angle": 0.05,
  "fiducials": [
    [
      0.132,
      -0.08299999999999999,
      0.006
    ],
    [
      0.28300000000000003,
      -0.08299999999999999,
      0.006
    ],
    [
      0.28300000000000003,
      0.08299999999999999,
      0.006
    ],
    [
      0.132,
      0.08299999999999999,
      0.006
    ]
  ],
  "texture": {
    "name": "canvas_texture",
    "width": 512,
    "height": 512,
    "uv_origin_xy": [
      0.14,
      0.075
    ],
    "uv_one_xy": [
      0.275,
      -0.075
    ]
  },
  "camera": {
    "name": "front",
    "width": 960,
    "height": 720,
    "fovy": 30
  },
  "home_q": [
    0.41020600457163114,
    -0.3799769482267569,
    0.45871160247525,
    1.4920608009849445,
    0.4588854918489469,
    0.05
  ]
}