| { | |
| "featuresDict": { | |
| "features": { | |
| "episode_metadata": { | |
| "featuresDict": { | |
| "features": { | |
| "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 delta values across [6x ee pos (x, y, z, r, p, y), 1x delta gripper position, 1x delta gripper applied force, 1x terminate episode].", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "9" | |
| ] | |
| } | |
| } | |
| }, | |
| "action_dict": { | |
| "featuresDict": { | |
| "features": { | |
| "cartesian_position": { | |
| "description": "end effector pose delta, relative to base frame", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "6" | |
| ] | |
| } | |
| } | |
| }, | |
| "gripper_force": { | |
| "description": "gripper force delta.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "gripper_position": { | |
| "description": "gripper position delta.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "rotation": { | |
| "description": "end effector rotation delta, relative to base frame", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| }, | |
| "translation": { | |
| "description": "end effector translation delta, relative to base frame", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "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": { | |
| "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": { | |
| "applied_force": { | |
| "description": "gripper applied force", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "cartesian_position": { | |
| "description": "6x end-effector pose (x,y,z,rx,ry,rz relative to base frame)", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "6" | |
| ] | |
| } | |
| } | |
| }, | |
| "contact_force": { | |
| "description": "gripper measured contact force", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "gripper_position": { | |
| "description": "gripper position", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "image": { | |
| "description": "Main camera RGB observation.", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg", | |
| "shape": { | |
| "dimensions": [ | |
| "480", | |
| "640", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "joint_position": { | |
| "description": "UR5 6DoF joint positions (q0, q1, q2, q3, q4, q5)", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "6" | |
| ] | |
| } | |
| } | |
| }, | |
| "state": { | |
| "description": "Robot state, consists of [6x robot joint angles, 6x end-effector position (x,y,z,rx,ry,rz relative to base frame), 1x gripper position, 1x gripper applied force, 1x gripper contact force, 1x action_blocked flag].", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "16" | |
| ] | |
| } | |
| } | |
| }, | |
| "wrist_image": { | |
| "description": "Wrist camera RGB observation.", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg", | |
| "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": {} | |
| } | |
| }, | |
| "subtask": { | |
| "description": "Language Instruction for subtask.", | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {} | |
| }, | |
| "timestep_pad_mask": { | |
| "description": "False on first step of the episode if context window==2 and for padded steps", | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| } |