{
    "env": {
        "name": "gym_hil",
        "task": "PandaPickCubeGamepad-v0",
        "fps": 10,
        "robot": null,
        "teleop": null,
        "processor": {
            "control_mode": "gamepad",
            "observation": {
                "add_joint_velocity_to_observation": true,
                "display_cameras": false
            },
            "image_preprocessing": null,
            "gripper": {
                "use_gripper": true,
                "gripper_penalty": -0.02
            },
            "reset": {
                "fixed_reset_joint_positions": [
                    0.0,
                    0.195,
                    0.0,
                    -2.43,
                    0.0,
                    2.62,
                    0.785
                ],
                "reset_time_s": 1.0,
                "control_time_s": 15.0
            }
        },
        "features": {
            "observation.images.front": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.images.wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    18
                ]
            },
            "action": {
                "type": "ACTION",
                "shape": [
                    3
                ]
            }
        },
        "features_map": {
            "observation.images.front": "observation.images.front",
            "observation.images.wrist": "observation.images.wrist",
            "observation.state": "observation.state",
            "action": "action"
        }
    },
    "dataset": {
        "repo_id": "lilkm/pick_cube_franka_panda_30",
        "root": null,
        "task": "PandaPickCubeGamepad-v0",
        "num_episodes_to_record": 30,
        "replay_episode": 0,
        "push_to_hub": true
    },
    "mode": "record",
    "device": "cuda"
}