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"featuresDict": {
"features": {
"episode_metadata": {
"featuresDict": {
"features": {
"episode_id": {
"description": "Episode ID from h5. defined as traj_n",
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
"text": {}
},
"file_path": {
"description": "Path to the original data file including dataset name represented as timestamp.",
"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": "Action according to maniskill pd_ee_delta_pose format [3x RPY ee orientation in robot frame, 1x gripper position (-1 is closed and 1 is open)].",
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"dtype": "float32",
"encoding": "none",
"shape": {
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]
}
}
},
"discount": {
"description": "Discount if provided, default to 1.",
"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
"tensor": {
"dtype": "float32",
"encoding": "none",
"shape": {}
}
},
"env_id": {
"description": "env registration id.",
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
"text": {}
},
"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": {
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}
}
},
"language_instruction": {
"description": "Language Instruction.",
"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
"text": {}
},
"observation": {
"featuresDict": {
"features": {
"gripper": {
"description": "2 finger joints.",
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"dtype": "float32",
"encoding": "none",
"shape": {
"dimensions": [
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]
}
}
},
"proprio": {
"description": "7 joints proprioception, consists of [j1, j2, j3, j4, j5, j6, j7].",
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"dtype": "float32",
"encoding": "none",
"shape": {
"dimensions": [
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]
}
}
},
"rgb_0": {
"description": "Main RGB camera.",
"image": {
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"encodingFormat": "png",
"shape": {
"dimensions": [
"256",
"256",
"3"
]
}
},
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
},
"rgb_1": {
"description": "Human render RGB camera in maniskill, shows clues about the task not present in rgb_0.",
"image": {
"dtype": "uint8",
"encodingFormat": "png",
"shape": {
"dimensions": [
"256",
"256",
"3"
]
}
},
"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
},
"tquat": {
"description": "3 translation 4 quaternion.",
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"dtype": "float32",
"encoding": "none",
"shape": {
"dimensions": [
"7"
]
}
}
}
}
},
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
},
"rcs_action": {
"description": "Action according to rcs format [3x translation, 3x RPY ee orientation in robot frame, 1x gripper position (0 is closed and 1 is open)].",
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
"tensor": {
"dtype": "float32",
"encoding": "none",
"shape": {
"dimensions": [
"7"
]
}
}
},
"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"
} |