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EmbodiedSWE-Task-Examples

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EmbodiedSWE-Task-Examples
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{
  "control_space": "joint_target",
  "control_freq_hz": 20.0,
  "origin": [
    "sim"
  ],
  "robot_type": "assembly.nut_thread.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": 64865
  },
  "video_encoder": {
    "vcodec": "h264",
    "pix_fmt": "yuv420p",
    "crf": 23,
    "g": 5,
    "gop_seconds": 0.25,
    "preset": null
  },
  "video_files": {
    "max_seconds": 500.0,
    "size_mb": 74,
    "longest_s": 863.65
  },
  "workers": 8,
  "raw_command": true,
  "controller": {
    "leaves": [
      {
        "class": "JointController",
        "control_period": 24,
        "control_dt": 0.05,
        "cfg": {
          "dt": 0.02,
          "joint_names": [
            "panda_joint[1-7]"
          ],
          "scale": 1.0,
          "offset": 0.0
        }
      },
      {
        "class": "JointController",
        "control_period": 24,
        "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,
      7257.8125,
      7257.8125
    ],
    "joint_damping": [
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      80.0,
      5.559670925140381,
      100.0,
      100.0
    ]
  },
  "mixed_law": {
    "episodes": 401,
    "varies": {
      "joint_stiffness[7]": {
        "joint": "panda_finger_joint1",
        "min": 6007.8125,
        "max": 9984.375,
        "distinct": 401
      },
      "joint_stiffness[8]": {
        "joint": "panda_finger_joint2",
        "min": 6007.8125,
        "max": 9984.375,
        "distinct": 401
      },
      "joint_damping[6]": {
        "joint": "panda_joint7",
        "min": 3.004115,
        "max": 5.987654,
        "distinct": 401
      }
    },
    "note": "stamped `controller` is episode 0's \u2014 representative only (spread unioned across bake shards; `distinct` is an upper bound)"
  },
  "mid_solve_controller_changes": [
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_158/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_026/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_056/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_169/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_198/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_092/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_120/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_079/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_019/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_099/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_178/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_037/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_183/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_170/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_081/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_139/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_224/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_107/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_018/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_017/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_073/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_111/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_222/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_035/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_163/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_021/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_030/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_106/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_201/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_048/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_030/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_027/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_050/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s1_083/ep_0000",
    "/nfs/roberts/project/pi_ia285/yl2529/project/CoSiGen/experiments/2026-08-27_nut_thread_vla_datagen/runs/run_0/data_gen/gen_0/data/p_s0_136/ep_0000",
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  ],
  "git_shas": [
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  ],
  "created": "2026-09-05T12:31:41+00:00"
}