| { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "steps": { | |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "observation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "joint_states": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "joint values" | |
| }, | |
| "gripper_states": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "1" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "gripper_states = 0 means the gripper is fully closed. The value represents the gripper width of Franka Panda Gripper." | |
| }, | |
| "ee_states": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "16" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Pose of the end effector specified as a homogenous matrix." | |
| }, | |
| "natural_language_instruction": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "string", | |
| "encoding": "none" | |
| } | |
| }, | |
| "eye_in_hand_rgb": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "256", | |
| "256", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg" | |
| }, | |
| "description": "RGB captured by in hand camera" | |
| }, | |
| "agentview_rgb": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "256", | |
| "256", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "jpeg" | |
| }, | |
| "description": "RGB captured by workspace camera" | |
| }, | |
| "natural_language_embedding": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "512" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "action": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "world_vector": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| } | |
| }, | |
| "gripper_closedness_action": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| } | |
| }, | |
| "rotation_delta": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "3" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| } | |
| }, | |
| "terminate_episode": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "is_first": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "is_terminal": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "is_last": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "bool", | |
| "encoding": "none" | |
| } | |
| }, | |
| "reward": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| } | |
| } | |
| } | |
| } |