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mango_rlds_front/pick_n_place_ee/1.4.0/dataset_info.json

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+{
+  "fileFormat": "tfrecord",
+  "moduleName": "__main__",
+  "name": "pick_n_place_ee",
+  "releaseNotes": {
+    "1.4.0": "Pick up only"
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "18410062015",
+      "shardLengths": [
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+    },
+    {
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+      "name": "val",
+      "numBytes": "700618519",
+      "shardLengths": [
+        "2",
+        "1"
+      ]
+    }
+  ],
+  "version": "1.4.0"
+}

mango_rlds_front/pick_n_place_ee/1.4.0/features.json

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+{
+    "featuresDict": {
+        "features": {
+            "episode_metadata": {
+                "featuresDict": {
+                    "features": {
+                        "episode_length": {
+                            "description": "Length of the episode in timesteps.",
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "dtype": "int32",
+                                "encoding": "none",
+                                "shape": {}
+                            }
+                        },
+                        "file_path": {
+                            "description": "Path to the original data file.",
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {}
+                        }
+                    }
+                },
+                "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 normalized delta end-effector pose and gripper action. [3x position delta (dx, dy, dz), 3x orientation delta (droll, dpitch, dyaw), 1x gripper action (-1=open, 1=close)]. Position deltas normalized to [-1, 1] using dataset min/max values. End-effector control.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "discount": {
+                                    "description": "Discount if provided, default to 1.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_first": {
+                                    "description": "True on first step of the episode.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_last": {
+                                    "description": "True on last step of the episode.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_terminal": {
+                                    "description": "True on last step of the episode if it is a terminal step, True for demos.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "language_embedding": {
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "language_instruction": {
+                                    "description": "Language Instruction (dummy for now).",
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {}
+                                },
+                                "observation": {
+                                    "featuresDict": {
+                                        "features": {
+                                            "camera_front_image": {
+                                                "description": "Front camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "480",
+                                                            "640",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "camera_left_image": {
+                                                "description": "Left camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "480",
+                                                            "640",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "image": {
+                                                "description": "Front camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "480",
+                                                            "640",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "state": {
+                                                "description": "Robot state, consists of [3x EE position, 3x EE orientation (roll, pitch, yaw), 2x gripper positions (2 fingers)].",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "8"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "wrist_image": {
+                                                "description": "Wrist camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "480",
+                                                            "640",
+                                                            "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"
+}

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