{
  "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"
}