# @package _global_

resize_shape: [240, 320]
crop_shape: [224, 308]

task:
  name: avaloha_thread_needle
  dataset_repo_id: iantc104/av_aloha_sim/av_aloha_sim_thread_needle
  dataset_root: ${oc.env:FLARE_DATASETS_DIR}/iantc104/av_aloha_sim_thread_needle
  dataset_episodes: null
  override_stats:
    observation.images.zed_cam_left:
      mean: [[[0.485]], [[0.456]], [[0.406]]]
      std: [[[0.229]], [[0.224]], [[0.225]]]

  env_package: gym_av_aloha
  env_name: thread-needle-v1
  env_kwargs:
    fps: 8.33333333333
    cameras:
      zed_cam_left: [480, 640]
    render_camera: zed_cam_left
    enable_av: true
    max_episode_steps: 125

  fps: 8.333333333
  image_keys:
    - observation.images.zed_cam_left
  state_key: observation.state
  action_key: action
  state_dim: 21
  action_dim: 21