diff --git a/gym_dora/gym_dora/env.py b/gym_dora/gym_dora/env.py
index be94faa3..5316fc72 100644
--- a/gym_dora/gym_dora/env.py
+++ b/gym_dora/gym_dora/env.py
@@ -4,11 +4,53 @@ import gymnasium as gym
 import numpy as np
 import pyarrow as pa
 from dora import Node
+from gymnasium import spaces
 
 IMAGE_WIDTH = int(os.getenv("IMAGE_WIDTH", "640"))
 IMAGE_HEIGHT = int(os.getenv("IMAGE_HEIGHT", "480"))
 FPS = int(os.getenv("FPS", "30"))
 
+JOINTS = [
+    # absolute joint position
+    "left_arm_waist",
+    "left_arm_shoulder",
+    "left_arm_elbow",
+    "left_arm_forearm_roll",
+    "left_arm_wrist_angle",
+    "left_arm_wrist_rotate",
+    # normalized gripper position 0: close, 1: open
+    "left_arm_gripper",
+    # absolute joint position
+    "right_arm_waist",
+    "right_arm_shoulder",
+    "right_arm_elbow",
+    "right_arm_forearm_roll",
+    "right_arm_wrist_angle",
+    "right_arm_wrist_rotate",
+    # normalized gripper position 0: close, 1: open
+    "right_arm_gripper",
+]
+
+ACTIONS = [
+    # position and quaternion for end effector
+    "left_arm_waist",
+    "left_arm_shoulder",
+    "left_arm_elbow",
+    "left_arm_forearm_roll",
+    "left_arm_wrist_angle",
+    "left_arm_wrist_rotate",
+    # normalized gripper position (0: close, 1: open)
+    "left_arm_gripper",
+    "right_arm_waist",
+    "right_arm_shoulder",
+    "right_arm_elbow",
+    "right_arm_forearm_roll",
+    "right_arm_wrist_angle",
+    "right_arm_wrist_rotate",
+    # normalized gripper position (0: close, 1: open)
+    "right_arm_gripper",
+]
+
 
 class DoraEnv(gym.Env):
     metadata = {"render_modes": ["rgb_array"], "render_fps": FPS}
@@ -19,6 +61,51 @@ class DoraEnv(gym.Env):
         self.observation = {"pixels": {}, "agent_pos": None}
         self.terminated = False
 
+        self.observation_height = IMAGE_HEIGHT
+        self.observation_width = IMAGE_WIDTH
+
+        assert model == "aloha"
+        self.observation_space = spaces.Dict(
+            {
+                "pixels": spaces.Dict(
+                    {
+                        "cam_high": spaces.Box(
+                            low=0,
+                            high=255,
+                            shape=(self.observation_height, self.observation_width, 3),
+                            dtype=np.uint8,
+                        ),
+                        "cam_low": spaces.Box(
+                            low=0,
+                            high=255,
+                            shape=(self.observation_height, self.observation_width, 3),
+                            dtype=np.uint8,
+                        ),
+                        "cam_left_wrist": spaces.Box(
+                            low=0,
+                            high=255,
+                            shape=(self.observation_height, self.observation_width, 3),
+                            dtype=np.uint8,
+                        ),
+                        "cam_right_wrist": spaces.Box(
+                            low=0,
+                            high=255,
+                            shape=(self.observation_height, self.observation_width, 3),
+                            dtype=np.uint8,
+                        ),
+                    }
+                ),
+                "agent_pos": spaces.Box(
+                    low=-1000.0,
+                    high=1000.0,
+                    shape=(len(JOINTS),),
+                    dtype=np.float64,
+                ),
+            }
+        )
+
+        self.action_space = spaces.Box(low=-1, high=1, shape=(len(ACTIONS),), dtype=np.float32)
+
     def _get_obs(self):
         while True:
             event = self.node.next(timeout=0.001)