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EmbodiedSWE-Task-Examples

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{
  "control_space": "joint_target",
  "control_freq_hz": 20.0,
  "origin": [
    "sim"
  ],
  "robot_type": "packing.clear_organic_objects.franka.joint",
  "state_names": [
    "panda_joint1",
    "panda_joint2",
    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
    "gripper"
  ],
  "action_names": [
    "panda_joint1_target",
    "panda_joint2_target",
    "panda_joint3_target",
    "panda_joint4_target",
    "panda_joint5_target",
    "panda_joint6_target",
    "panda_joint7_target",
    "gripper"
  ],
  "state_parts": {
    "arm_qpos": [
      0,
      7
    ],
    "gripper_qpos": [
      7,
      8
    ]
  },
  "action_parts": {
    "arm_qpos_target": [
      0,
      7
    ],
    "gripper_target": [
      7,
      8
    ]
  },
  "gripper": "closedness in [0,1]: 0 = fully open, 1 = fully closed",
  "idle_filter": {
    "enabled": true,
    "dropped_ticks": 0
  },
  "video_encoder": {
    "vcodec": "h264",
    "pix_fmt": "yuv420p",
    "crf": 23,
    "g": 5,
    "gop_seconds": 0.25,
    "preset": null
  },
  "video_files": {
    "max_seconds": 400.0,
    "size_mb": 42,
    "longest_s": 542.6
  },
  "workers": 5,
  "raw_command": true,
  "controller": {
    "class": "FrankaRobot",
    "leaves": [
      {
        "class": "JointController",
        "control_period": 6,
        "control_dt": 0.05,
        "cfg": {
          "dt": 0.02,
          "joint_names": [
            "panda_joint[1-7]"
          ],
          "scale": 1.0,
          "offset": 0.0
        }
      },
      {
        "class": "JointController",
        "control_period": 6,
        "control_dt": 0.05,
        "cfg": {
          "dt": 0.02,
          "joint_names": [
            "panda_finger_joint.*"
          ],
          "scale": 1.0,
          "offset": 0.0
        }
      }
    ],
    "joint_names": [
      "panda_joint1",
      "panda_joint2",
      "panda_joint3",
      "panda_joint4",
      "panda_joint5",
      "panda_joint6",
      "panda_joint7",
      "panda_finger_joint1",
      "panda_finger_joint2"
    ],
    "joint_stiffness": [
      400.0,
      400.0,
      400.0,
      400.0,
      400.0,
      400.0,
      400.0,
      4000.0,
      4000.0
    ],
    "joint_damping": [
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      100.0,
      100.0
    ]
  },
  "mixed_law": null,
  "mid_solve_controller_changes": [],
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