{
  "algorithm": "supermimic",
  "actor_input_normalization": "rsl_rl_empirical_real_next_obs",
  "task": "lemon",
  "seed": 0,
  "smoke": false,
  "reset_bank": "/mnt/data3/ZhouZhiqiang/supermimic_manipulation/banks/lemon.pt",
  "dataset": {
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      "task": "lemon",
      "robot": "arx5",
      "joint_order": [
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        "joint2",
        "joint3",
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        "joint5",
        "joint6",
        "joint7",
        "joint8"
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      "fields": [
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        "lemon_vel",
        "plate_pose"
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      "frame": "environment_world",
      "pose": "xyz_wxyz",
      "joint_units": [
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        "rad",
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        "rad",
        "rad",
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      "joint_velocity_units": [
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        "rad/s",
        "m/s",
        "m/s"
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      "position_unit": "m",
      "lemon_velocity": "root_origin_local_linear_xyz_angular_xyz",
      "lemon_velocity_units": [
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        "rad/s"
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      "plate": "fixed_mocap_pose_constant_within_episode",
      "categories": [
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        "y_range": [
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          "ObjectRestingEEGrasped": "accepted_task0_full_resting_pose_with_uniform_grasp_roll",
          "ObjectAirborneEEGrasped": "haar_object_orientation_fresh_airborne_xyz_uniform_grasp_roll",
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            "passed": 10199
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          "ObjectAirborneEEGrasped": {
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        "command": "fixed_initial_ee_pose",
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