{
  "action_dim": 2,
  "columns": {
    "episodes": [
      "episode_id",
      "seed",
      "length",
      "return",
      "terminated",
      "truncated",
      "env_id",
      "policy",
      "horizon"
    ],
    "steps": [
      "episode_id",
      "t",
      "obs_state",
      "action",
      "reward",
      "terminated",
      "truncated",
      "done",
      "seed",
      "is_success",
      "coverage",
      "n_contacts"
    ]
  },
  "done_definition": "done = terminated OR truncated",
  "obs_dim": 5,
  "schema_version": "v1",
  "tables": [
    "steps",
    "episodes"
  ]
}