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        "phase": "COMPLETE",
        "hand_alpha": 0.0
      },
      {
        "timestamp_ns": 12000000000,
        "phase": "COMPLETE",
        "hand_alpha": 0.0
      }
    ],
    "controller": "gravity_compensated_joint_pd_plus_orca_position_targets",
    "contact_model": "mujoco_contact_force"
  }
}