{
  "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."
}