tasks/tower_insertion_3.initial-state.json

{
  "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
  }
}