TOWER-Assets / tasks /tower_insertion_3.json
marcozzxx810's picture
Publish TOWER manifest 0.0.3
538d8b1 verified
Raw History Blame Contribute Delete
28.5 kB
{
"schema": "tower-training-scene-v1",
"checkpoint_id": "pi05_task5-3_sim_20260915T073829Z_dp-cfg07_tp-cfg09_gb16_s30000_r001/30000",
"artifact_identity": {
"model_sha256": "73b7a664767989184e9d121e5966a90bff46eae7263b8236607e0361ccc969e6",
"norm_stats_sha256": "e52ac05842f0580d188f7c5dfa0e3047752ca3dcf50dafa668fe5a1c7e7d5f33"
},
"source": {
"training_episode": "dataset://benchmark/jenga/sim/2026_09_14/task_000020_task5_3/High_Quality/episode_000003_20260914T152644Z_19091492.hdf5",
"training_dataset": "local/jenga_sim_task5-3_cfg07_20260915t070723z",
"generator": "jenga-sim-data-generator"
},
"config": {
"jpeg_quality": 95,
"anti_aliasing": 4,
"stage": "asset://station/aliyun-rtx-task5-cuboid.usda",
"dlss_mode": 2,
"render_subframes": 4,
"motion_profile": "smooth",
"profile_path": "generator://jenga_generator/data/motion_profile_v1.json",
"replicator_sync_only": true,
"randomization_manifest": null,
"tower_jitter_m": 0.003,
"grasp_point_offsets_m": {},
"gripper_finger_effort_limit_n": 3.0,
"fixed_camera_display_rotation_degrees": 0,
"renderer": "RaytracedLighting",
"reset_settle_seconds": 1.0,
"layers_above_base": 3,
"camera_batch_mode": "individual",
"task": "tower_insertion_3",
"lighting_samples": 16,
"center_block_jitter_m": 0.002,
"runtime_profile_dir": "generator://jenga_generator/data/task53_runtime_profiles",
"wrist_near_clip_mm": 10.0
},
"expected_layout": {
"logical_id": 2000157,
"seed": 3428251885,
"blocks": [
{
"name": "source_base_0",
"tower": "source",
"layer": 0,
"slot": -1,
"pose": [
0.1262758534338697,
-0.5270771445979013,
0.015,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": true
},
{
"name": "source_base_1",
"tower": "source",
"layer": 0,
"slot": 0,
"pose": [
0.1762758534338697,
-0.5270771445979013,
0.015,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": true
},
{
"name": "source_base_2",
"tower": "source",
"layer": 0,
"slot": 1,
"pose": [
0.2262758534338697,
-0.5270771445979013,
0.015,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": true
},
{
"name": "destination_base_0",
"tower": "destination",
"layer": 0,
"slot": -1,
"pose": [
0.3749451566642045,
-0.27730678786815743,
0.015,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": true
},
{
"name": "destination_base_1",
"tower": "destination",
"layer": 0,
"slot": 0,
"pose": [
0.4249451566642045,
-0.27730678786815743,
0.015,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": true
},
{
"name": "destination_base_2",
"tower": "destination",
"layer": 0,
"slot": 1,
"pose": [
0.4749451566642045,
-0.27730678786815743,
0.015,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": true
},
{
"name": "destination_l1_side_-1",
"tower": "destination",
"layer": 1,
"slot": -1,
"pose": [
0.4249451566642045,
-0.3283067878681574,
0.046,
0.0,
0.0,
0.0,
1.0
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.032
],
"asset_scale": null,
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "destination_l1_side_+1",
"tower": "destination",
"layer": 1,
"slot": 1,
"pose": [
0.4249451566642045,
-0.22630678786815744,
0.046,
0.0,
0.0,
0.0,
1.0
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.032
],
"asset_scale": null,
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "destination_l2_side_-1",
"tower": "destination",
"layer": 2,
"slot": -1,
"pose": [
0.3739451566642045,
-0.27730678786815743,
0.078,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.032
],
"asset_scale": null,
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "destination_l2_side_+1",
"tower": "destination",
"layer": 2,
"slot": 1,
"pose": [
0.4759451566642045,
-0.27730678786815743,
0.078,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.032
],
"asset_scale": null,
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "destination_l3_roof_0",
"tower": "destination",
"layer": 3,
"slot": -1,
"pose": [
0.4249451566642045,
-0.3273067878681574,
0.109,
0.0,
0.0,
0.0,
1.0
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "destination_l3_roof_1",
"tower": "destination",
"layer": 3,
"slot": 0,
"pose": [
0.4249451566642045,
-0.27730678786815743,
0.109,
0.0,
0.0,
0.0,
1.0
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "destination_l3_roof_2",
"tower": "destination",
"layer": 3,
"slot": 1,
"pose": [
0.4249451566642045,
-0.22730678786815744,
0.109,
0.0,
0.0,
0.0,
1.0
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "source_l1_insert",
"tower": "source",
"layer": 1,
"slot": 0,
"pose": [
0.1762758534338697,
-0.5270771445979013,
0.045,
0.0,
0.0,
0.0,
1.0
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": false
},
{
"name": "source_l2_insert",
"tower": "source",
"layer": 2,
"slot": 0,
"pose": [
0.1762758534338697,
-0.5270771445979013,
0.075,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
],
"asset_reference": null,
"dimensions_m": [
0.15,
0.05,
0.03
],
"asset_scale": null,
"mass_kg": null,
"diagonal_inertia_kg_m2": null,
"texture_variant": null,
"fixed_on_table": false
}
],
"transfers": [
{
"block_index": 14,
"block_id": "source_l2_insert",
"source_layer": 2,
"destination_layer": 2,
"arm": 1,
"goal": [
0.4249451566642045,
-0.27730678786815743,
0.077,
0.0,
0.0,
-0.7071067811865475,
0.7071067811865476
]
},
{
"block_index": 13,
"block_id": "source_l1_insert",
"source_layer": 1,
"destination_layer": 1,
"arm": 0,
"goal": [
0.4249451566642045,
-0.27730678786815743,
0.045,
0.0,
0.0,
0.0,
1.0
]
}
],
"layout_metadata": {
"catalog_task": 5,
"layers_above_foundation_including_roof": 3,
"foundation_yaw_degrees": -90,
"odd_layer_yaw_degrees": 0,
"orientation_evidence": "2026_09_09 real four-camera initial views compared with calibrated simulation",
"insertion_count": 2,
"insertion_order": "highest_gap_first",
"arm_order_by_gap": "odd:left, even:back (real command channels)",
"centers_m": [
[
0.1762758534338697,
-0.5270771445979013,
0.0
],
[
0.4249451566642045,
-0.27730678786815743,
0.0
]
],
"tower_jitter_m": 0.003,
"foundation_blocks_per_tower": 3,
"roof_blocks": 3,
"interior_side_blocks_per_layer": 2,
"insert_dimensions_m": [
0.15,
0.05,
0.03
],
"side_dimensions_m": [
0.15,
0.05,
0.032
],
"vertical_clearance_m": 0.0020000000000000018,
"total_lateral_clearance_m": 0.002,
"clearance_provenance": "PROVISIONAL: user requested taller sides; RGB does not measure millimetre dimensions",
"reference_collection": "2026_09_09",
"reference_episode": "a7217e3f674f42a4a43a8db53850b4da",
"scene_approval_pending": false,
"motion_enabled": true,
"support_geometry": "taller solid side blocks; no floating bodies or hidden spacers"
}
},
"expected_visuals": [
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": true,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": true,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": true,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": true,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": true,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": true,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1066.6666666666667
],
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1066.6666666666667
],
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1066.6666666666667
],
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1066.6666666666667
],
"mass_kg": 0.11264,
"diagonal_inertia_kg_m2": [
3.307861333333334e-05,
0.00022081194666666667,
0.00023466666666666666
],
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
},
{
"mode": "source",
"instanceable": true,
"asset": "asset://station/aliyun-rtx-task5-cuboid.usda",
"asset_prim": "/PNP_DUALD1200_STATION/ReplayTaskBlocks/Foundation01",
"scale": [
1000.0,
1000.0,
1000.0
],
"mass_kg": 0.1056,
"diagonal_inertia_kg_m2": null,
"fixed_on_table": false,
"material_overrides": false,
"geometry_overrides": true
}
],
"expected_cameras": [
{
"back_wrist": {
"capture_api": "isaacsim.sensors.camera.Camera RGB annotator",
"clipping_range_mm": [
10.0,
3000.0
],
"intrinsic_matrix_k": [
[
607.5339965820312,
0.0,
324.4942932128906
],
[
0.0,
607.247802734375,
246.6157989501953
],
[
0.0,
0.0,
1.0
]
],
"intrinsic_source_path": "/World/envs/env_0/Station/StationModel/InstalledRobots/StandB_Robot/NeroRobotWithWristCamera/gripper_base/WristCameraMount/camera_stand_link/d435_camera_link/camera_link/camera_color_frame/camera_color_optical_frame/wrist_camera",
"opencv_pinhole_applied_explicitly": true,
"path": "/World/envs/env_0/Cameras/back_wrist",
"resolution": [
640,
480
]
},
"high": {
"capture_api": "isaacsim.sensors.camera.Camera RGB annotator",
"clipping_range_mm": [
1.0,
3000.0
],
"intrinsic_matrix_k": [
[
606.9732666015625,
0.0,
332.095947265625
],
[
0.0,
606.57958984375,
256.9991149902344
],
[
0.0,
0.0,
1.0
]
],
"intrinsic_source_path": "/World/envs/env_0/Station/CameraAlignment/high_camera",
"opencv_pinhole_applied_explicitly": true,
"path": "/World/envs/env_0/Station/CameraAlignment/high_camera",
"resolution": [
640,
480
]
},
"left_wrist": {
"capture_api": "isaacsim.sensors.camera.Camera RGB annotator",
"clipping_range_mm": [
10.0,
3000.0
],
"intrinsic_matrix_k": [
[
607.5339965820312,
0.0,
324.4942932128906
],
[
0.0,
607.247802734375,
246.6157989501953
],
[
0.0,
0.0,
1.0
]
],
"intrinsic_source_path": "/World/envs/env_0/Station/StationModel/InstalledRobots/StandA_Robot/NeroRobotWithWristCamera/gripper_base/WristCameraMount/camera_stand_link/d435_camera_link/camera_link/camera_color_frame/camera_color_optical_frame/wrist_camera",
"opencv_pinhole_applied_explicitly": true,
"path": "/World/envs/env_0/Cameras/left_wrist",
"resolution": [
640,
480
]
},
"low": {
"capture_api": "isaacsim.sensors.camera.Camera RGB annotator",
"clipping_range_mm": [
1.0,
3000.0
],
"intrinsic_matrix_k": [
[
607.1331176757812,
0.0,
331.9508361816406
],
[
0.0,
606.6990356445312,
243.00799560546875
],
[
0.0,
0.0,
1.0
]
],
"intrinsic_source_path": "/World/envs/env_0/Station/CameraAlignment/low_camera",
"opencv_pinhole_applied_explicitly": true,
"path": "/World/envs/env_0/Station/CameraAlignment/low_camera",
"resolution": [
640,
480
]
}
}
],
"initial_observation": {
"qpos": [
-0.03748243674635887,
-0.8006506562232971,
-0.0040744305588305,
1.7537992000579834,
0.011747205629944801,
-0.02549574337899685,
1.2400057315826416,
0.10000000149011612,
-0.15732437372207642,
-0.8276422023773193,
0.05131379887461662,
1.7955811023712158,
0.0005275870789773762,
-0.04279092699289322,
1.2802997827529907,
0.10000000149011612
],
"blocks": [
[
0.12627601623535156,
-0.5270772576332092,
0.015000001527369022,
-3.567602879783749e-10,
5.445027762007726e-11,
-0.70710688829422,
0.70710688829422
],
[
0.17627716064453125,
-0.5270772576332092,
0.015000001527369022,
-3.567602879783749e-10,
5.445027762007726e-11,
-0.70710688829422,
0.70710688829422
],
[
0.22627544403076172,
-0.5270772576332092,
0.015000001527369022,
-3.567602879783749e-10,
5.445027762007726e-11,
-0.70710688829422,
0.70710688829422
],
[
0.37494564056396484,
-0.27730679512023926,
0.015000001527369022,
-3.567602879783749e-10,
5.445027762007726e-11,
-0.70710688829422,
0.70710688829422
],
[
0.42494678497314453,
-0.27730679512023926,
0.015000001527369022,
-3.567602879783749e-10,
5.445027762007726e-11,
-0.70710688829422,
0.70710688829422
],
[
0.4749469757080078,
-0.27730679512023926,
0.015000001527369022,
-3.567602879783749e-10,
5.445027762007726e-11,
-0.70710688829422,
0.70710688829422
],
[
0.42494678497314453,
-0.32830679416656494,
0.045999545603990555,
9.907457751978654e-07,
-3.116805373792886e-06,
-9.115920533986355e-07,
1.0
],
[
0.42494678497314453,
-0.22630691528320312,
0.0459994375705719,
1.7754571217665216e-06,
-3.7940501442790264e-06,
-4.643577256047138e-07,
1.0
],
[
0.3739490509033203,
-0.27730780839920044,
0.07800374180078506,
7.204321263998281e-06,
2.173222526380414e-07,
-0.7071054577827454,
0.7071080803871155
],
[
0.47594642639160156,
-0.2773078382015228,
0.0780012235045433,
-6.397177457984071e-06,
1.013497148960596e-05,
-0.7071083784103394,
0.7071052193641663
],
[
0.42494773864746094,
-0.32730787992477417,
0.10900196433067322,
4.34741696153651e-06,
8.9837394625647e-06,
-1.7113256944867317e-06,
1.0000001192092896
],
[
0.42494869232177734,
-0.2773081064224243,
0.10900165140628815,
-5.756268819823163e-06,
8.76266130944714e-06,
-2.0892443899356294e-06,
1.0000001192092896
],
[
0.42494773864746094,
-0.22730830311775208,
0.10900228470563889,
9.796353879210074e-06,
1.2446600521798246e-05,
-2.01288094103802e-06,
1.0000001192092896
],
[
0.17627716064453125,
-0.527077317237854,
0.045000042766332626,
7.080380441948364e-07,
1.819937835989549e-07,
-7.055600690364372e-07,
1.0000001192092896
],
[
0.17627811431884766,
-0.527079164981842,
0.07499973475933075,
1.0404852218925953e-05,
1.9850493117701262e-05,
-0.7071112394332886,
0.7071024775505066
]
]
},
"initial_robot_state": "asset://tasks/tower_insertion_3.initial-state.json",
"files_sha256": {
"asset://station/aliyun-rtx-task5-cuboid.usda": "02920c30915f364954b05da6a706467e28ae090815e12d7c6694e7ee5948e549",
"asset://station/aliyun-rtx-training.usdz": "5c96b41013576173d4dfc84b2e0b12b588f248224f7d5ccf09792d34f7237c4a",
"generator://jenga_generator/data/motion_profile_v1.json": "f0cdaac8844cb858f0bd6b582fa8f4da6f1e12af46ef503e3c7262b1061b6006",
"generator://jenga_generator/data/task53_runtime_profiles/DUAL_ROBOT_ALIGNMENT_PROFILE.json": "da956aac3e35fb2ad68a9ed4a82ce4256db5d931b6fc0547365e40c76a5a005a",
"generator://jenga_generator/data/task53_runtime_profiles/REPLAY_PROFILE_V0_0_1.json": "85c5c36a3029a56aef5f4c7159201d1fd5b9a80b2146592794b450719386c582",
"generator://jenga_generator/data/task53_runtime_profiles/bundle.json": "beb1fa879a4f18147cfdbaaa8cd9e79658c9f23e8087e21e66ad0c663dbc7344",
"generator://jenga_generator/data/task53_runtime_profiles/dual_parameters.json": "8e9d4b5e07cbd96c21baffea7dcbd1820e2335e6fcb7b8b3eab6658ef7a55957",
"asset://tasks/tower_insertion_3.initial-state.json": "e3357c39674b294c4394e9a29deaf716aa2787c6de1365405bd80dd3a420e3fb"
}
}