File size: 936 Bytes
55ea634 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 | {
"format": "LeRobotDataset v3",
"robot_asset_commit": "fda892cba81032c46c40976a48c9ceadbf40a9ca",
"genesis_backend": "cpu",
"genesis_precision": "float64",
"contact_solver": "rigid",
"simulation_seed": 0,
"physics_dt": 0.03333333333333333,
"physics_substeps": 32,
"constraint_timeconst": 0.0021,
"gripper_force": -0.3,
"joint_order": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper"
],
"arm_units": "normalized joint range [-100, 100]",
"gripper_units": "0 closed, 100 open",
"task": "Pick up the red block and place it in the red tray.",
"episode_seeds": [
0,
10000,
20000,
30000,
40000
],
"successful_episodes": 5,
"attempts": 5,
"grasp_physics": "Unassisted frictional grasp: the jaws close on the cube under gripper force and hold it by contact alone. No object attachment, weld, or pose override is used."
}
|