{
  "env": "SO101PickCube",
  "playground": "1.0.1",
  "control_dt": 0.019999999552965164,
  "physics_dt": 0.005,
  "observations": [
    {
      "name": "joint_pos",
      "shape": [
        6
      ]
    },
    {
      "name": "joint_vel",
      "shape": [
        6
      ]
    },
    {
      "name": "ee_to_object",
      "shape": [
        3
      ]
    },
    {
      "name": "object_to_goal",
      "shape": [
        3
      ]
    },
    {
      "name": "last_action",
      "shape": [
        6
      ]
    }
  ],
  "joints": [
    "robot/shoulder_pan",
    "robot/shoulder_lift",
    "robot/elbow_flex",
    "robot/wrist_flex",
    "robot/wrist_roll",
    "robot/gripper"
  ],
  "home_qpos": [
    -0.192,
    -0.262,
    0.253,
    1.13,
    0.0793,
    0.8
  ],
  "action": {
    "ctrl": "scale * action + offset",
    "scale": [
      0.14622027301605472,
      0.13877058784032037,
      0.15077808253314556,
      0.16475919964313931,
      0.16843584397174813,
      0.32941453534081816
    ],
    "offset": [
      -0.192,
      -0.262,
      0.253,
      1.13,
      0.0793,
      0.8
    ]
  },
  "ee_site": "robot/gripperframe",
  "object_body": "cube/cube",
  "target_body": "target/target",
  "reset": {
    "object_pos_range": [
      [
        0.2,
        0.35
      ],
      [
        -0.1,
        0.1
      ],
      [
        0.018,
        0.018
      ]
    ],
    "target_pos_range": [
      [
        0.2,
        0.3
      ],
      [
        -0.1,
        0.1
      ],
      [
        0.08,
        0.2
      ]
    ],
    "resampling_time_range": [
      4.0,
      7.0
    ],
    "joint_perturbation": 0.1
  },
  "model": {
    "qpos_joints": [
      "cube/cube_freejoint",
      "robot/shoulder_pan",
      "robot/shoulder_lift",
      "robot/elbow_flex",
      "robot/wrist_flex",
      "robot/wrist_roll",
      "robot/gripper"
    ],
    "jnt_qposadr": [
      0,
      7,
      8,
      9,
      10,
      11,
      12
    ],
    "jnt_dofadr": [
      0,
      6,
      7,
      8,
      9,
      10,
      11
    ],
    "actuators": [
      "robot/shoulder_pan",
      "robot/shoulder_lift",
      "robot/elbow_flex",
      "robot/wrist_flex",
      "robot/wrist_roll",
      "robot/gripper"
    ],
    "mocap_bodies": [
      "target/target"
    ]
  },
  "checkpoint": "model_999.pt",
  "obs_size": 24,
  "reference_steps": 600,
  "onnx_vs_torch_max_abs": 5.7220458984375e-06
}