{
    "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"
}