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