{
  "control_space": "joint_target",
  "control_freq_hz": 15.0,
  "origin": [
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  "robot_type": "packing.tool_packing.franka.diff_ik",
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    "panda_joint2",
    "panda_joint3",
    "panda_joint4",
    "panda_joint5",
    "panda_joint6",
    "panda_joint7",
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    "panda_joint3_target",
    "panda_joint4_target",
    "panda_joint5_target",
    "panda_joint6_target",
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  "idle_filter": {
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    "dropped_ticks": 0
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  "video_encoder": {
    "vcodec": "h264",
    "pix_fmt": "yuv420p",
    "crf": 23,
    "g": 4,
    "gop_seconds": 0.25,
    "preset": null
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    "size_mb": 46,
    "longest_s": 911.4
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  "raw_command": true,
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        "class": "DiffIKController",
        "control_period": 8,
        "control_dt": 0.06666666666666667,
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          "dt": 0.02,
          "ee_body": "panda_hand",
          "arm_joint_names": [
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          "ik_method": "dls",
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          "pos_scale": 0.02,
          "rot_scale": 0.097,
          "max_dq": 0.06,
          "lead_max": 0.2,
          "ema_factor": 1.0,
          "clamp_joint_limits": true
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        "cfg": {
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          "joint_names": [
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          "scale": 1.0,
          "offset": 0.0
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      "panda_joint3",
      "panda_joint4",
      "panda_joint5",
      "panda_joint6",
      "panda_joint7",
      "panda_finger_joint1",
      "panda_finger_joint2"
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