{ "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": [ -0.03748243674635887, -0.8006506562232971, -0.0040744305588305, 1.7537992000579834, 0.011747205629944801, -0.02549574337899685, 1.2400057315826416, 0.1, -0.15732437372207642, -0.8276422023773193, 0.05131379887461662, 1.7955811023712158, 0.0005275870789773762, -0.04279092699289322, 1.2802997827529907, 0.1 ], "lifter_position_mm": [ 0.0, 0.0 ], "source": { "raw_episode": "dataset://benchmark/jenga/sim/2026_09_14/task_000020_task5_3/High_Quality/episode_000003_20260914T152644Z_19091492.hdf5", "dataset": "local/jenga_sim_task5-3_cfg07_20260915t070723z", "source_frame_index": 0 } }