{
    "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": {
                                            "dimensions": [
                                                "7"
                                            ]
                                        }
                                    }
                                },
                                "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": {
                                            "dimensions": [
                                                "512"
                                            ]
                                        }
                                    }
                                },
                                "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": [
                                                            "2"
                                                        ]
                                                    }
                                                }
                                            },
                                            "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": [
                                                            "7"
                                                        ]
                                                    }
                                                }
                                            },
                                            "rgb_0": {
                                                "description": "Main RGB camera.",
                                                "image": {
                                                    "dtype": "uint8",
                                                    "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"
}