{
  "task": "stack",
  "options": {
    "sim": {
      "control_hz": 20,
      "performance_mode": false,
      "n_envs": 1
    },
    "robot": {
      "type_of_robot": "single",
      "single": {
        "manipulator": "franka",
        "gripper": "allegro",
        "manipulator_controller": {
          "name": "osc_pose_abs_quat",
          "config": {
            "normalized": false,
            "clip": false,
            "lin_range": [
              1.5,
              1.0,
              1.0
            ],
            "position_cost": 2.0,
            "orientation_cost": 2.0,
            "posture_cost": 0.1,
            "damping_cost": 0.01,
            "max_joint_step": 0.35,
            "pos_tol": 0.001,
            "mink_dt": 0.05
          }
        },
        "gripper_controller": {
          "name": "joint_position",
          "config": {
            "normalized": false,
            "clip": false
          }
        },
        "workspace": {
          "min": [
            0.15,
            -0.5,
            -0.1
          ],
          "max": [
            0.65,
            0.5,
            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
          ],
          "gui": false
        }
      },
      "dynamic": {
        "wrist": "wrist_cam"
      },
      "modalities": [
        "rgb",
        "depth"
      ]
    }
  }
}