| { | |
| "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" | |
| } |