Datasets:

dexsuite
/

close_window_spray_floating_sharpa_scripted

@@ -33,7 +33,7 @@ The controller closes the sash with one of two fingertip presses on the rail (pa
 The recording uses 8 physics substeps per control step (`physics_substeps: 8` in `meta/env_config.json`; DexSuite's default is 2), so build evaluation environments from `meta/env_config.json`. The front camera is the window task's own view (`window_front`). Close Window and Spray is not in the PyPI package; clone the DexSuite repository to build its environment.
-The robot is an arm-less floating wrist (a virtual 6-DoF gantry) carrying the right Sharpa hand (22 DoF); the 29-D action is 7 `osc_pose_abs_quat` values (position offset and orientation relative to the episode-start wrist pose) followed by 22 hand joint position targets in radians. The recording names the hand `sharpa_fardexbot`, the Sharpa hand with its wrist-camera mount, which shows in the front-camera frames; DexSuite registers that name as an alias of the plain `sharpa` hand. Besides the standard DexSuite keys, every frame carries per-finger contact forces (`obs.state.other.finger_force_world`, `finger_force_norm` in N, `finger_force_display`, `finger_force_saturated`, `finger_contact`; thumb, index, middle, ring, pinky) and the controller's phase (`obs.state.other.controller_phase`: 0 free, 1 approach, 2 in hand) and stage (`obs.state.other.controller_stage`, named in `meta/controller.json`). `meta/env_config.json` rebuilds the environment and `meta/controller_episodes/episode_*.json` keeps each episode's scene seed, style seed and controller parameters. Depth was rendered during collection but is not included.
 - **Homepage:** https://huggingface.co/dexsuite
 - **Paper:** https://arxiv.org/abs/2610.37799

 The recording uses 8 physics substeps per control step (`physics_substeps: 8` in `meta/env_config.json`; DexSuite's default is 2), so build evaluation environments from `meta/env_config.json`. The front camera is the window task's own view (`window_front`). Close Window and Spray is not in the PyPI package; clone the DexSuite repository to build its environment.
+The robot is an arm-less floating wrist (a virtual 6-DoF gantry) carrying the right Sharpa hand (22 DoF); the 29-D action is 7 `osc_pose_abs_quat` values (position offset and orientation relative to the episode-start wrist pose) followed by 22 hand joint position targets in radians. The hand is `sharpa_fardexbot`, the right Sharpa hand carrying the wrist-camera mount of the real handheld rig (mount plate, quick changer and D405 body, which collide with the scene and show in the front-camera frames); DexSuite ships it under that name. Besides the standard DexSuite keys, every frame carries per-finger contact forces (`obs.state.other.finger_force_world`, `finger_force_norm` in N, `finger_force_display`, `finger_force_saturated`, `finger_contact`; thumb, index, middle, ring, pinky) and the controller's phase (`obs.state.other.controller_phase`: 0 free, 1 approach, 2 in hand) and stage (`obs.state.other.controller_stage`, named in `meta/controller.json`). `meta/env_config.json` rebuilds the environment and `meta/controller_episodes/episode_*.json` keeps each episode's scene seed, style seed and controller parameters. Depth was rendered during collection but is not included.
 - **Homepage:** https://huggingface.co/dexsuite
 - **Paper:** https://arxiv.org/abs/2610.37799