| { | |
| "schema": "jenga-training-initial-state-v1", | |
| "names": [ | |
| "left_j1", | |
| "left_j2", | |
| "left_j3", | |
| "left_j4", | |
| "left_j5", | |
| "left_j6", | |
| "left_j7", | |
| "left_gripper_m", | |
| "back_j1", | |
| "back_j2", | |
| "back_j3", | |
| "back_j4", | |
| "back_j5", | |
| "back_j6", | |
| "back_j7", | |
| "back_gripper_m" | |
| ], | |
| "qpos": [ | |
| -0.037482429295778275, | |
| -0.8006505966186523, | |
| -0.0040744305588305, | |
| 1.7537989616394043, | |
| 0.01174720749258995, | |
| -0.02549574337899685, | |
| 1.2400058507919312, | |
| 0.09999999403953552, | |
| -0.15732437372207642, | |
| -0.8276422023773193, | |
| 0.05131379887461662, | |
| 1.7955811023712158, | |
| 0.0005275870789773762, | |
| -0.042790938168764114, | |
| 1.2802997827529907, | |
| 0.1 | |
| ], | |
| "lifter_position_mm": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "source": { | |
| "raw_episode": "dataset://benchmark/jenga/sim/2026_09_14/task_000019_task5_2/High_Quality/episode_000069_20260914T135501Z_c877c202.hdf5", | |
| "dataset": "local/jenga_sim_task5-2_cfg07_20260914t175015z", | |
| "source_frame_index": 0 | |
| } | |
| } | |