Skip to content

How to create your own config

You can bring your own config to CRISP, so that you are able to create your own environments, teleoperation setup, controllers...

  1. First create a config folder and give it the following structure (you do not need to add all config folders):

    my_crisp_configs
    ├── envs/
    │   ├── my_env1.yaml
    │   └── my_env2.yaml
    ├── recording/
    │   └── my_recording_manager.yaml
    ├── teleop/
    │   └── my_teleop_setup.yaml
    ├── control/
    │   ├── my_osc_controller.yaml
    │   ├── my_joint_controller.yaml
    │   └── my_cartesian_impedance_controller.yaml
    ├── my_gripper_config.yaml
    ├── my_second_gripper_config.yaml
    ├── my_robot_config.yaml
    └── my_camera_config.yaml
2. Then add it to your CRISP_CONFIG_PATH: 
export CRISP_CONFIG_PATH=/path/to/my_crisp_configs

  1. Check that the config works.
crisp-check-config  # Do this inside an environment with crisp_py or crisp_gym installed

This should output your config if it can be loaded properly

Now you can use this to create your own environments:

from crisp_gym.manipulator_env import make_env

env = make_env(env_type="my_env1", namespace="my_robot_namespace_if_required")

Also the record and deploy scripts should be able to find your config now and allow you to load it.