P = {
    "deployment": {
        "agent": "pets"
    },
    "agent": {
        "pretrained_model": True,
        "num_random_steps": 0,
        "model_freq": 0,
        "rollout": {"horizon_params": ("constant", 10)},
        "gamma": 1,
        "cem_iterations": 50,
        "cem_particles": 60,
        "cem_elites": 15,
        "cem_warm_start": True,
        "cem_alpha": 0.5,
        "cem_temperature": 0.5
    }
}
