{
  "version": "superdex-gs-cartesian-v1",
  "task_version": "superdex-gs-bottle-pick-v1",
  "physics": "SuperDex 1.0.0 (contact-first implicit solver)",
  "observation_mode": "visual",
  "state_dim": 43,
  "proprio_dim": 16,
  "goal_dim": 3,
  "critic_dim": 61,
  "rgb_shape": [
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  ],
  "rgb_dtype": "uint8",
  "camera": "Intel RealSense D415 colour (factory intrinsics, serial 047422061197) on mount v4",
  "action_dim": 7,
  "action_frame": "robot base",
  "translation_m_per_step": 0.005,
  "rotation_rad_per_step": 0.017453292519943295,
  "gripper": "-1 closed, +1 open, 0 half-open",
  "physics_dt": 0.002,
  "control_dt": 0.05,
  "ik": {
    "damping": 0.005,
    "orientation_weight": 0.2,
    "max_joint_speed_rad_s": 1.0,
    "period_s": 0.008,
    "gravity_compensation": true
  },
  "success": {
    "clearance_m": 0.1,
    "hold_s": 2.0,
    "pad_force_n": 0.05,
    "monitor_rate_hz": 20.0
  },
  "scene_sha256": "83da41d609d61efd2841f9b79ad9ed2f9a655fecdb8bcf2e5a11200fe5ae24eb",
  "assets_manifest_sha256": "2c878a93b1eb46e756359ffdd55682a817eb3f71d714abd4ee5888eda13bf908"
}