File size: 1,147 Bytes
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"task": "stack_blocks_three",
"embodiment": "ur5-wsg",
"camera_views": [
"head_camera",
"left_camera",
"right_camera"
],
"data_resolution": "320x240",
"num_episodes": 50,
"embodiment_config": {
"urdf": "ur5_wsg_gripper_isaac.urdf",
"dual_arm": false,
"dis": 0.8,
"left_arm": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint"
],
"right_arm": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint"
],
"left_gripper": [
"base_joint_gripper_left",
[
[
"base_joint_gripper_right",
-1.0,
0.0
]
]
],
"right_gripper": [
"base_joint_gripper_left",
[
[
"base_joint_gripper_right",
-1.0,
0.0
]
]
],
"gripper_scale": [
0.01,
-0.06
],
"grasp_axis": [
0.0,
0.0,
-1.0
]
},
"source_renderer": "render/render_robotwin.py"
} |