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{
  "control_space": "joint_pos",
  "control_freq_hz": 15.0,
  "origin": [
    "sim"
  ],
  "robot_type": "assembly.pc_gpu_ram.franka.osc",
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    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
    "gripper"
  ],
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    "panda_joint2",
    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
    "gripper"
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    "gripper_qpos": [
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      8
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  "action_parts": {
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      7
    ],
    "gripper_qpos": [
      7,
      8
    ]
  },
  "gripper": "closedness in [0,1]: 0 = fully open, 1 = fully closed",
  "idle_filter": {
    "enabled": false,
    "dropped_ticks": 0
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  "video_encoder": {
    "vcodec": "h264",
    "pix_fmt": null,
    "crf": null,
    "g": null,
    "gop_seconds": null,
    "preset": null,
    "note": "lerobot without configs.video: only the codec was set"
  },
  "video_files": {
    "max_seconds": 800,
    "size_mb": 78
  },
  "workers": 12,
  "raw_command": true,
  "controller": {
    "class": "FrankaRobot",
    "leaves": [
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        "class": "OperationalSpaceController",
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        "control_dt": 0.06666666666666667,
        "cfg": {
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          "ee_body": "panda_hand",
          "arm_joint_names": [
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          "task_prop_gains": [
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            100.0,
            100.0,
            30.0,
            30.0,
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          "task_deriv_gains": [],
          "pos_scale": 0.02,
          "rot_scale": 0.097,
          "unidirectional_rot": false,
          "ema_factor": 0.2,
          "nullspace_dof_pos": [
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          "kp_null": 10.0,
          "kd_null": 6.3246,
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        },
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        "cfg": {
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      "panda_joint3",
      "panda_joint4",
      "panda_joint5",
      "panda_joint6",
      "panda_joint7",
      "panda_finger_joint1",
      "panda_finger_joint2"
    ],
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      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
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      0.0,
      0.0,
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      100.0
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  },
  "mid_solve_controller_changes": [],
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  ],
  "git_shas": [
    ""
  ],
  "created": "2026-09-08T14:26:13+00:00",
  "looks": {
    "count": 3,
    "note": "each source episode appears once per visual look (base, draw1, draw2): identical state/action rows, the videos re-rendered under a different lighting/camera draw (see the episode's imgs/render_<cam>_drawN.json in the raw release)"
  }
}