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@@ -56,3 +56,13 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset_grasponly/1.0.0/deligrasp_dataset-train.tfrecord-00000-of-00002 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset_grasponly/1.0.0/deligrasp_dataset-train.tfrecord-00001-of-00002 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00000-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00001-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00002-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00003-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00004-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00005-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00006-of-00008 filter=lfs diff=lfs merge=lfs -text
+deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00007-of-00008 filter=lfs diff=lfs merge=lfs -text

deligrasp_dataset/1.0.0/dataset_info.json

@@ -0,0 +1,28 @@
+{
+  "citation": "@misc{DeliGraspUR5DemoForce,\n  title = {DeliGrasp {UR5} Demonstration Dataset with Force},\n  author = {William Xie and Nikolaus Correll},\n  howpublished = {https://deligrasp.github.io/data},\n}",
+  "description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
+  "fileFormat": "tfrecord",
+  "moduleName": "deligrasp_dataset_dataset_builder",
+  "name": "deligrasp_dataset",
+  "releaseNotes": {
+    "1.0.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "631617492",
+      "shardLengths": [
+        "16",
+        "16",
+        "17",
+        "16",
+        "16",
+        "17",
+        "16",
+        "16"
+      ]
+    }
+  ],
+  "version": "1.0.0"
+}

deligrasp_dataset/1.0.0/dataset_statistics_1d94aaf3eeab8317ba2d62b455a5c09ffa604a4c3e3261948fd16520f9afb5a6.json

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deligrasp_dataset/1.0.0/dataset_statistics_30f8911b45a3ebf004d01bb74c785af37e1f2f708801ed7dc63eed523b216128.json

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deligrasp_dataset/1.0.0/dataset_statistics_4162d5ff7e4ddb46efc6c55770464c3862d18ca706e63a6bd8bcaccfe645de9e.json

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deligrasp_dataset/1.0.0/dataset_statistics_4b5f6f68e1f2d63ba92bb289e8b6c4e45836f1a1fd7fa22042506ff9fa641f57.json

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deligrasp_dataset/1.0.0/dataset_statistics_5c539b84af8b1a236c09a26203583e1120b7d59bd0753992870bdae680778fa3.json

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deligrasp_dataset/1.0.0/dataset_statistics_5f9bfa3c3bbc93c33fa270c23c15c5ef61ea91715464897dc2ee241104551abd.json

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deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00000-of-00008

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deligrasp_dataset/1.0.0/deligrasp_dataset-train.tfrecord-00003-of-00008

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deligrasp_dataset/1.0.0/features.json

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+{
+    "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"
+}

deligrasp_dataset_grasponly/1.0.0/dataset_info.json

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+{
+  "citation": "@misc{DeliGraspUR5DemoForce,\n  title = {DeliGrasp {UR5} Demonstration Dataset with Force},\n  author = {William Xie and Nikolaus Correll},\n  howpublished = {https://deligrasp.github.io/data},\n}",
+  "description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
+  "fileFormat": "tfrecord",
+  "moduleName": "deligrasp_dataset_dataset_builder",
+  "name": "deligrasp_dataset",
+  "releaseNotes": {
+    "1.0.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "229549301",
+      "shardLengths": [
+        "65",
+        "65"
+      ]
+    }
+  ],
+  "version": "1.0.0"
+}

deligrasp_dataset_grasponly/1.0.0/dataset_statistics_074b9b154f5575ff1c62f577f69f490ea6fe5d201b6d9df41f82e4e5dafdb71b.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_1464d7e6e197784c525cd91e39f59bd660db19f9b71dfbaeedd9f340c377205f.json

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+{"action": {"mean": [-0.053310543298721313, 0.004067526664584875], "std": [0.1595091074705124, 0.024357439950108528], "max": [0.015847239643335342, 0.3240000009536743], "min": [-0.8936696648597717, 0.0]}, "proprio": {"mean": [0.031289517879486084, 0.031289517879486084, 0.2929995059967041], "std": [0.04163579270243645, 0.04163579270243645, 0.779536247253418], "max": [0.3240000009536743, 0.3240000009536743, 13.037410736083984], "min": [0.0, 0.0, 0.0]}, "num_transitions": 1582, "num_trajectories": 130}

deligrasp_dataset_grasponly/1.0.0/dataset_statistics_14ca3e1c12504f7df6c0908e91b2ad1a1165ef2f7491613d93041d9267ab4699.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_24a0344349062950d4dc3df08e024c3f607f4b1b3f7ecacb42f1c76456129d38.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_25381ee2b6b2b774da79f94871995b697c70c1375e2690a71cf3dfba4cac5f18.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_3337a7d451ce5c840600cf83abc011f7365863558d716fb8335bc97211ceef71.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_468510431ebdbf30d854fc921cc24dc86ce1560044c48e6ece6878790e732462.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_5b5b0a4eb56713f2491a3833d786ea093ca523fa142faf17e6bc8bc257a6726f.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_74584c2544aad4af48c65df65c346c6f4ff2391025ee8ab0a5caee3636a6c6aa.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_b0cf2a88bafc867535db826cf590bbdf050da8cf6c279070b1cff5779e348bd4.json

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deligrasp_dataset_grasponly/1.0.0/dataset_statistics_f85bd20d1e169c504f7eb11aaf45c03839cc1934db369109d78368b82a1e7e47.json

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deligrasp_dataset_grasponly/1.0.0/features.json

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+                        "file_path": {
+                            "description": "Path to the original data file.",
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+                                    "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",
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
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+                                                "description": "gripper force delta.",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
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+                                            "gripper_position": {
+                                                "description": "gripper position delta.",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                    "encoding": "none",
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                "description": "end effector translation delta, relative to base frame",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
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+                                        "encoding": "none",
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+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+                                                "tensor": {
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                "image": {
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+                                                    "shape": {
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+                                                            "3"
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+                                                "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": {
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+                                                "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",
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+                                "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"
+}