sim_il/env_config.json

{
    "env": {
        "name": "gym_hil",
        "task": "PandaPickCubeKeyboard-v0",
        "fps": 10,
        "robot": null,
        "teleop": null,
        "processor": {
            "control_mode": "gamepad",
            "observation": {
                "add_joint_velocity_to_observation": true,
                "add_ee_pose_to_observation": true,
                "display_cameras": false
            },
            "image_preprocessing": {
                "crop_params_dict": {
                    "observation.images.front": [
                        0,
                        0,
                        128,
                        128
                    ],
                    "observation.images.wrist": [
                        0,
                        0,
                        128,
                        128
                    ]
                },
                "resize_size": [
                    128,
                    128
                ]
            },
            "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
            },
            "reward_classifier": {
                "pretrained_path": null
            }
        }
    },
    "dataset": {
        "repo_id": "pepijn223/il_gym0",
        "root": null,
        "task": "PandaPickCubeKeyboard-v0",
        "num_episodes_to_record": 30,
        "replay_episode": 0,
        "push_to_hub": true
    },
    "mode": null,
    "device": "cuda"
}