| { |
| "featuresDict": { |
| "features": { |
| "steps": { |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", |
| "sequence": { |
| "feature": { |
| "featuresDict": { |
| "features": { |
| "action": { |
| "featuresDict": { |
| "features": { |
| "gripper_closedness_action": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "rotation_delta": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "3" |
| ] |
| } |
| } |
| }, |
| "terminate_episode": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": {} |
| } |
| }, |
| "world_vector": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "3" |
| ] |
| } |
| } |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| }, |
| "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": {} |
| } |
| }, |
| "observation": { |
| "featuresDict": { |
| "features": { |
| "agentview_rgb": { |
| "description": "RGB captured by workspace camera", |
| "image": { |
| "dtype": "uint8", |
| "shape": { |
| "dimensions": [ |
| "224", |
| "224", |
| "3" |
| ] |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" |
| }, |
| "ee_states": { |
| "description": "Pose of the end effector specified as a homogenous matrix.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "16" |
| ] |
| } |
| } |
| }, |
| "eye_in_hand_rgb": { |
| "description": "RGB captured by in hand camera", |
| "image": { |
| "dtype": "uint8", |
| "shape": { |
| "dimensions": [ |
| "224", |
| "224", |
| "3" |
| ] |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" |
| }, |
| "gripper_states": { |
| "description": "gripper_states = 0 means the gripper is fully closed. The value represents the gripper width of Franka Panda Gripper.", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "1" |
| ] |
| } |
| } |
| }, |
| "joint_states": { |
| "description": "joint values", |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "7" |
| ] |
| } |
| } |
| }, |
| "natural_language_embedding": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "float32", |
| "encoding": "none", |
| "shape": { |
| "dimensions": [ |
| "512" |
| ] |
| } |
| } |
| }, |
| "natural_language_instruction": { |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", |
| "tensor": { |
| "dtype": "string", |
| "encoding": "none", |
| "shape": {} |
| } |
| } |
| } |
| }, |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" |
| }, |
| "reward": { |
| "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" |
| } |
