| # toggle_switch_table demos (T3) | |
| Per-variant layout (red / blue share the same task id, so they are separated): | |
| ``` | |
| toggle_switch_table/ | |
| red/ | |
| toggle_switch_table_red.h5 (+ .json) # source (pre-replay) | |
| toggle_switch_table_red.rgb.pd_joint_delta_pos.physx_cpu.h5 # replay RGB (pre-lerobot) | |
| lerobot/ # LeRobot dataset (n100, 512@fov70) | |
| blue/ | |
| toggle_switch_table_blue.h5 (+ .json) | |
| toggle_switch_table_blue.rgb.pd_joint_delta_pos.physx_cpu.h5 | |
| lerobot/ | |
| mixed/ | |
| lerobot/ # merged red+blue (n200) for training | |
| ``` | |
| ## Instructions (embedded in LeRobot `tasks.parquet`) | |
| | Variant | Instruction | | |
| |---|---| | |
| | red | `Toggle the red switch on the table` | | |
| | blue | `Toggle the blue switch on the table` | | |
| Asset `100920`, part `button`, control `pd_joint_delta_pos`, obs `rgb`, cameras 512×512 FOV ≈ 70°. | |