{
    "env": {
        "name": "gym_hil",
        "task": "PandaPickCubeGamepad-v0",
        "fps": 10,
        "robot": null,
        "teleop": null,
        "processor": {
            "control_mode": "gamepad",
            "gripper": {
                "use_gripper": true,
                "gripper_penalty": -0.02,
                "gripper_penalty_in_reward": false
            },
            "reset": {
                "fixed_reset_joint_positions": [0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785],
                "reset_time_s": 2.0,
                "control_time_s": 15.0,
                "terminate_on_success": true
            }
        }
    },
    "dataset": {
        "repo_id": "aractingi/franka_sim_pick_lift_6",
        "root": null,
        "task": "PandaPickCubeGamepad-v0",
        "num_episodes_to_record": 30,
        "replay_episode": 0,
        "push_to_hub": true
    },
    "mode": null,
    "device": "cpu"
}