{
  "path": "/scratch/chuan166/lewm_dataset/lewm-cube/cube_single_expert.h5",
  "bytes": 101942558720,
  "frames": 2010000,
  "episodes": 10000,
  "episode_frames": 201,
  "control_timestep_s": 0.05000000000000003,
  "pixels_filters": {
    "32001": [
      2,
      2,
      1,
      15052800,
      5,
      1,
      1
    ]
  },
  "schema": {
    "action": {
      "shape": [
        2010000,
        5
      ],
      "dtype": "float32"
    },
    "control": {
      "shape": [
        2010000,
        7
      ],
      "dtype": "float64"
    },
    "ep_idx": {
      "shape": [
        2010000
      ],
      "dtype": "int32"
    },
    "ep_len": {
      "shape": [
        10000
      ],
      "dtype": "int32"
    },
    "ep_offset": {
      "shape": [
        10000
      ],
      "dtype": "int64"
    },
    "id": {
      "shape": [
        2010000
      ],
      "dtype": "int64"
    },
    "observation": {
      "shape": [
        2010000,
        28
      ],
      "dtype": "float64"
    },
    "pixels": {
      "shape": [
        2010000,
        224,
        224,
        3
      ],
      "dtype": "uint8"
    },
    "prev_qpos": {
      "shape": [
        2010000,
        21
      ],
      "dtype": "float64"
    },
    "prev_qvel": {
      "shape": [
        2010000,
        20
      ],
      "dtype": "float64"
    },
    "privileged_block_0_pos": {
      "shape": [
        2010000,
        3
      ],
      "dtype": "float64"
    },
    "privileged_block_0_quat": {
      "shape": [
        2010000,
        4
      ],
      "dtype": "float64"
    },
    "privileged_block_0_yaw": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "privileged_target_block": {
      "shape": [
        2010000
      ],
      "dtype": "int64"
    },
    "privileged_target_block_pos": {
      "shape": [
        2010000,
        3
      ],
      "dtype": "float64"
    },
    "privileged_target_block_yaw": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "privileged_target_task": {
      "shape": [
        2010000
      ],
      "dtype": "object"
    },
    "proprio_effector_pos": {
      "shape": [
        2010000,
        3
      ],
      "dtype": "float64"
    },
    "proprio_effector_yaw": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "proprio_gripper_contact": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "proprio_gripper_opening": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "proprio_gripper_vel": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "proprio_joint_pos": {
      "shape": [
        2010000,
        6
      ],
      "dtype": "float64"
    },
    "proprio_joint_vel": {
      "shape": [
        2010000,
        6
      ],
      "dtype": "float64"
    },
    "qpos": {
      "shape": [
        2010000,
        21
      ],
      "dtype": "float64"
    },
    "qvel": {
      "shape": [
        2010000,
        20
      ],
      "dtype": "float64"
    },
    "render_time": {
      "shape": [
        2010000
      ],
      "dtype": "float64"
    },
    "reward": {
      "shape": [
        2010000
      ],
      "dtype": "float64"
    },
    "step_idx": {
      "shape": [
        2010000
      ],
      "dtype": "int64"
    },
    "success": {
      "shape": [
        2010000
      ],
      "dtype": "bool"
    },
    "target": {
      "shape": [
        2010000,
        28
      ],
      "dtype": "float64"
    },
    "terminated": {
      "shape": [
        2010000
      ],
      "dtype": "bool"
    },
    "time": {
      "shape": [
        2010000,
        1
      ],
      "dtype": "float64"
    },
    "truncated": {
      "shape": [
        2010000
      ],
      "dtype": "bool"
    }
  }
}