File size: 1,196 Bytes
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"task": "stack_blocks_three",
"embodiment": "aloha-agilex",
"camera_views": [
"head_camera",
"left_camera",
"right_camera"
],
"data_resolution": "320x240",
"num_episodes": 50,
"embodiment_config": {
"urdf": "urdf/arx5_description_isaac.urdf",
"dual_arm": true,
"left_arm": [
"fl_joint1",
"fl_joint2",
"fl_joint3",
"fl_joint4",
"fl_joint5",
"fl_joint6"
],
"right_arm": [
"fr_joint1",
"fr_joint2",
"fr_joint3",
"fr_joint4",
"fr_joint5",
"fr_joint6"
],
"left_gripper": [
"fl_joint7",
[
[
"fl_joint8",
1.0,
0.0
]
]
],
"right_gripper": [
"fr_joint7",
[
[
"fr_joint8",
1.0,
0.0
]
]
],
"gripper_scale": [
-0.01,
0.045
],
"grasp_axis": [
-1.0,
0.0,
0.0
],
"grasp_axis_verified": [
1.0,
0.0,
0.0
],
"grasp_axis_note": "default render is GT-exact and does not use grasp_axis; verified approach axis is +X."
},
"source_renderer": "render/render_robotwin.py"
} |