{
  "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"
}