| { |
| "featuresDict": { |
| "features": { |
| "episode_metadata": { |
| "featuresDict": { |
| "features": { |
| "file_path": { |
| "description": "Path to the original data file.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "string", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "recording_folderpath": { |
| "description": "Path to the folder of recordings.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "string", |
| "encoding": "none", |
| "shape": {} |
| } |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| }, |
| "steps": { |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", |
| "sequence": { |
| "feature": { |
| "featuresDict": { |
| "features": { |
| "action": { |
| "description": "Robot action, consists of [6x joint velocities, 1x gripper position].", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| } |
| } |
| }, |
| "action_dict": { |
| "featuresDict": { |
| "features": { |
| "cartesian_position": { |
| "description": "Commanded Cartesian position", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "6" |
| ] |
| } |
| } |
| }, |
| "cartesian_velocity": { |
| "description": "Commanded Cartesian velocity", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "6" |
| ] |
| } |
| } |
| }, |
| "gripper_position": { |
| "description": "Commanded gripper position", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "1" |
| ] |
| } |
| } |
| }, |
| "gripper_velocity": { |
| "description": "Commanded gripper velocity", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "1" |
| ] |
| } |
| } |
| }, |
| "joint_position": { |
| "description": "Commanded joint position", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| } |
| } |
| }, |
| "joint_velocity": { |
| "description": "Commanded joint velocity", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| } |
| } |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| }, |
| "discount": { |
| "description": "Discount if provided, default to 1.", |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "is_first": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "bool", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "is_last": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "bool", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "is_terminal": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "bool", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "language_instruction": { |
| "description": "Language Instruction.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "string", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "language_instruction_2": { |
| "description": "Language Instruction 2.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "string", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "language_instruction_3": { |
| "description": "Language Instruction 3.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "string", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "observation": { |
| "featuresDict": { |
| "features": { |
| "cartesian_position": { |
| "description": "Robot Cartesian state", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "6" |
| ] |
| } |
| } |
| }, |
| "exterior_image_1_left": { |
| "description": "Exterior camera 1 left viewpoint", |
| "image": { |
| "dtype": "uint8", |
| "encodingFormat": "jpeg", |
| "shape": { |
| "dimensions": [ |
| "180", |
| "320", |
| "3" |
| ] |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" |
| }, |
| "exterior_image_2_left": { |
| "description": "Exterior camera 2 left viewpoint", |
| "image": { |
| "dtype": "uint8", |
| "encodingFormat": "jpeg", |
| "shape": { |
| "dimensions": [ |
| "180", |
| "320", |
| "3" |
| ] |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" |
| }, |
| "gripper_position": { |
| "description": "Gripper position statae", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "1" |
| ] |
| } |
| } |
| }, |
| "joint_position": { |
| "description": "Joint position state", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float64", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| } |
| } |
| }, |
| "wrist_image_left": { |
| "description": "Wrist camera RGB left viewpoint", |
| "image": { |
| "dtype": "uint8", |
| "encodingFormat": "jpeg", |
| "shape": { |
| "dimensions": [ |
| "180", |
| "320", |
| "3" |
| ] |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| }, |
| "reward": { |
| "description": "Reward if provided, 1 on final step for demos.", |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": {} |
| } |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| }, |
| "length": "-1" |
| } |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| } |
