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  "control_mode": "pd_ee_delta_pose",
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  "horizon": 16,
  "image_quality": 85,
  "instruction": "Stack cube A on top of cube B.",
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  "measurement": "exact_state_physics_branch",
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  "observation_render_sim_backend": "physx_cpu",
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  "source_obs_mode": "state",
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  "state_batch_size": 1,
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}