{ "task": "stack", "options": { "sim": { "control_hz": 20, "performance_mode": false, "n_envs": 1 }, "robot": { "type_of_robot": "single", "single": { "manipulator": "ur5", "gripper": "allegro", "manipulator_controller": { "name": "osc_pose_abs_quat", "config": { "normalized": false, "clip": false, "lin_range": [ 1.5, 1.0, 1.0 ], "ang_range": [ 3.1415, 3.1415, 3.1415 ] } }, "gripper_controller": { "name": "joint_position", "config": { "normalized": false, "clip": false } }, "workspace": { "min": [ 0.08, -0.65, -0.1 ], "max": [ 0.75, 0.65, 0.6 ] } }, "left": null, "right": null, "layout": { "preset": null, "params": {}, "single": { "pos": [ 0.0, 0.0, 0.0 ], "yaw_rad": 0.0, "quat": null }, "left": null, "right": null }, "visualize_tcp": false, "visualize_aabb": false }, "cameras": { "static": { "front": { "pos": [ 1.3, 0.0, 0.5 ], "lookat": [ 0.0, 0.0, 0.0 ], "fov": 75.0, "res": [ 224, 224 ] } }, "dynamic": { "wrist": { "link": null, "pos_offset": [ 0.0, 0.0, -0.16 ], "quat_offset": [ 0.3016296, 0.6395464, -0.6395464, -0.3016296 ], "fov": 60.0, "res": [ 224, 224 ] } }, "modalities": [ "rgb" ] } } }