| { | |
| "featuresDict": { | |
| "features": { | |
| "episode_metadata": { | |
| "featuresDict": { | |
| "features": { | |
| "file_path": { | |
| "description": "Path to the original data file.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "recording_folderpath": { | |
| "description": "Path to the folder of recordings.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| } | |
| } | |
| }, | |
| "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 [6x joint velocities, 1x gripper position].", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| } | |
| } | |
| }, | |
| "action_dict": { | |
| "featuresDict": { | |
| "features": { | |
| "cartesian_position": { | |
| "description": "Commanded Cartesian position", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "6" | |
| ] | |
| } | |
| } | |
| }, | |
| "cartesian_velocity": { | |
| "description": "Commanded Cartesian velocity", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "6" | |
| ] | |
| } | |
| } | |
| }, | |
| "gripper_position": { | |
| "description": "Commanded gripper position", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "gripper_velocity": { | |
| "description": "Commanded gripper velocity", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "joint_position": { | |
| "description": "Commanded joint position", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| } | |
| } | |
| }, | |
| "joint_velocity": { | |
| "description": "Commanded joint velocity", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "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": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "is_last": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "is_terminal": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "bool", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "language_instruction": { | |
| "description": "Language Instruction.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "language_instruction_2": { | |
| "description": "Language Instruction 2.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "language_instruction_3": { | |
| "description": "Language Instruction 3.", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "string", | |
| "encoding": "none", | |
| "shape": {} | |
| } | |
| }, | |
| "observation": { | |
| "featuresDict": { | |
| "features": { | |
| "cartesian_position": { | |
| "description": "Robot Cartesian state", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "6" | |
| ] | |
| } | |
| } | |
| }, | |
| "exterior_image_1_left": { | |
| "description": "Exterior camera 1 left viewpoint", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg", | |
| "shape": { | |
| "dimensions": [ | |
| "180", | |
| "320", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "exterior_image_2_left": { | |
| "description": "Exterior camera 2 left viewpoint", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg", | |
| "shape": { | |
| "dimensions": [ | |
| "180", | |
| "320", | |
| "3" | |
| ] | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" | |
| }, | |
| "gripper_position": { | |
| "description": "Gripper position statae", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| } | |
| } | |
| }, | |
| "joint_position": { | |
| "description": "Joint position state", | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "dtype": "float64", | |
| "encoding": "none", | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| } | |
| } | |
| }, | |
| "wrist_image_left": { | |
| "description": "Wrist camera RGB left viewpoint", | |
| "image": { | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg", | |
| "shape": { | |
| "dimensions": [ | |
| "180", | |
| "320", | |
| "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": {} | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| }, | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" | |
| } |