| { |
| "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": [ |
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| "/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", |
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| "/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", |
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| "/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", |
| "/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_005/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_167/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_007/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_065/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_041/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_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_010/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_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_074/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_179/ep_0000", |
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| "/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_071/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_230/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_122/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_220/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_123/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_091/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_095/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_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_189/ep_0000", |
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| "/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_117/ep_0000", |
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| "/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_150/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_055/ep_0000", |
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| "/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_208/ep_0000", |
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| "/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_028/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_136/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_156/ep_0000", |
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| "/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_163/ep_0000", |
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| "/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_072/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_036/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_155/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_114/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_061/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_127/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_066/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_013/ep_0000", |
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| ], |
| "git_shas": [ |
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| ], |
| "created": "2026-09-05T12:31:41+00:00" |
| } |
|
|
