{
  "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
  "scene": "sim/panthera/scene.xml",
  "control_mode": "keyboard",
  "track_rotation": true,
  "recording": {
    "trigger": "keyboard_or_mouse_motion",
    "max_duration_s": 60.0
  },
  "speed_m_s": 0.18,
  "rot_speed_rad_s": 1.2,
  "look_mode": "minecraft",
  "look_sens_deg_px": 0.15,
  "yaw_limit_deg": 59.99999999999999,
  "arm_joints": [
    "joint1",
    "joint2",
    "joint3",
    "joint4",
    "joint5",
    "joint6"
  ],
  "gripper_open_m": 0.04,
  "arm_start_range_m": [
    0.3,
    0.48,
    -0.16,
    0.16,
    0.1,
    0.4
  ],
  "objects": [
    "cube_red",
    "cube_green",
    "cube_blue"
  ],
  "region": [
    [
      0.1,
      -0.4,
      0.01
    ],
    [
      0.7,
      0.4,
      0.55
    ]
  ],
  "view": "grid",
  "frames": {
    "ee_*/target_*": "robot base frame",
    "quat": "(w, x, y, z)"
  },
  "created": "2026-09-20 10:08:22",
  "n_steps": 356,
  "duration_s": 9.419442415237427,
  "fps_actual": 37.794169156351984,
  "fields": {
    "t": [],
    "q": [
      6
    ],
    "dq": [
      6
    ],
    "ctrl": [
      7
    ],
    "ee_pos": [
      3
    ],
    "ee_quat": [
      4
    ],
    "obj_pos": [
      3,
      3
    ],
    "obj_quat": [
      3,
      4
    ],
    "target_pos": [
      3
    ],
    "target_quat": [
      4
    ],
    "gripper": [],
    "ik_pos_err": [],
    "ik_rot_err": []
  }
}