| { |
| "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": [ |
| 0, |
| 7 |
| ], |
| "gripper_qpos": [ |
| 7, |
| 8 |
| ] |
| }, |
| "action_parts": { |
| "arm_qpos": [ |
| 0, |
| 7 |
| ], |
| "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]" |
| ], |
| "task_prop_gains": [ |
| 100.0, |
| 100.0, |
| 100.0, |
| 30.0, |
| 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": [ |
| -1.3003, |
| -0.4015, |
| 1.1791, |
| -2.1493, |
| 0.4001, |
| 1.9425, |
| 0.4754 |
| ], |
| "kp_null": 10.0, |
| "kd_null": 6.3246, |
| "torque_limit": 100.0 |
| }, |
| "kp": [ |
| 100.0, |
| 100.0, |
| 100.0, |
| 30.0, |
| 30.0, |
| 30.0 |
| ], |
| "kd": [ |
| 20.0, |
| 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": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 2000.0, |
| 2000.0 |
| ], |
| "joint_damping": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 100.0, |
| 100.0 |
| ] |
| }, |
| "mid_solve_controller_changes": [], |
| "episodes": [ |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0039", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0052", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0069", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0084", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0102", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0127", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0146", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0176", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0193", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0212", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0225", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s2t_v4/ep_0003", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s1_probe/ep_0003", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/p0_v8/ep_0012", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0002", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0023", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0040", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0054", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0070", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0085", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0104", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0128", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0147", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0227", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s1_probe/ep_0004", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0071", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0086", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0150", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0228", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s3_fix/ep_0000", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0073", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0137", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0159", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0216", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0230", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s1t_v4/ep_0000", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s3t_probe/ep_0000", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s3_fix/ep_0002", |
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| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0185", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0200", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/batch_dynamics_0001/ep_0219", |
| "/snapshot/dgen_release/gen_o50_v3/pc_gpu/data/s2_probe/ep_0000", |
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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)" |
| } |
| } |
|
|
