{
  "control_space": "joint_pos",
  "control_freq_hz": 15.0,
  "origin": [
    "sim"
  ],
  "robot_type": "assembly.pc_gpu.franka.osc",
  "state_names": [
    "panda_joint1",
    "panda_joint2",
    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
    "gripper"
  ],
  "action_names": [
    "panda_joint1",
    "panda_joint2",
    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
    "gripper"
  ],
  "state_parts": {
    "arm_qpos": [
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    ],
    "gripper_qpos": [
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      8
    ]
  },
  "action_parts": {
    "arm_qpos": [
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    ],
    "gripper_qpos": [
      7,
      8
    ]
  },
  "gripper": "closedness in [0,1]: 0 = fully open, 1 = fully closed",
  "idle_filter": {
    "enabled": false,
    "dropped_ticks": 0
  },
  "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": 81
  },
  "workers": 12,
  "raw_command": true,
  "controller": {
    "class": "FrankaRobot",
    "leaves": [
      {
        "class": "OperationalSpaceController",
        "control_period": 16,
        "control_dt": 0.06666666666666667,
        "cfg": {
          "dt": 0.06666666666666667,
          "ee_body": "panda_hand",
          "arm_joint_names": [
            "panda_joint[1-7]"
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          "task_prop_gains": [
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            30.0,
            30.0
          ],
          "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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            1.1791,
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            0.4001,
            1.9425,
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          "kp_null": 10.0,
          "kd_null": 6.3246,
          "torque_limit": 100.0
        },
        "kp": [
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          30.0,
          30.0,
          30.0
        ],
        "kd": [
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          20.0,
          20.0,
          10.954451560974121,
          10.954451560974121,
          10.954451560974121
        ]
      },
      {
        "class": "JointController",
        "control_period": 16,
        "control_dt": 0.06666666666666667,
        "cfg": {
          "dt": 0.06666666666666667,
          "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": [
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      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      2000.0,
      2000.0
    ],
    "joint_damping": [
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      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      100.0,
      100.0
    ]
  },
  "mid_solve_controller_changes": [],
  "episodes": [
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  ],
  "git_shas": [
    ""
  ],
  "created": "2026-09-07T21:00:58+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)"
  }
}