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{
"env_name": "Kitchen_D1",
"env_version": "1.4.1",
"type": 1,
"env_kwargs": {
"has_renderer": false,
"has_offscreen_renderer": true,
"ignore_done": true,
"use_object_obs": true,
"use_camera_obs": true,
"control_freq": 20,
"controller_configs": {
"type": "OSC_POSE",
"input_max": 1,
"input_min": -1,
"output_max": [
0.05,
0.05,
0.05,
0.5,
0.5,
0.5
],
"output_min": [
-0.05,
-0.05,
-0.05,
-0.5,
-0.5,
-0.5
],
"kp": 150,
"damping": 1,
"impedance_mode": "fixed",
"kp_limits": [
0,
300
],
"damping_limits": [
0,
10
],
"position_limits": null,
"orientation_limits": null,
"uncouple_pos_ori": true,
"control_delta": false,
"interpolation": null,
"ramp_ratio": 0.2
},
"robots": [
"Panda"
],
"camera_depths": false,
"camera_heights": 96,
"camera_widths": 96,
"render_gpu_device_id": 0,
"reward_shaping": false,
"camera_names": [
"agentview",
"robot0_eye_in_hand"
]
}
}