{
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    "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": [
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                                                        ]
                                                    },
                                                    "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": {
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                                                    "dtype": "float32",
                                                    "encoding": "none"
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                                            "natural_language_instruction": {
                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
                                                "tensor": {
                                                    "shape": {},
                                                    "dtype": "string",
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                                            },
                                            "eye_in_hand_rgb": {
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                                                    },
                                                    "dtype": "uint8",
                                                    "encodingFormat": "jpeg"
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                                                "description": "RGB captured by in hand camera"
                                            },
                                            "agentview_rgb": {
                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
                                                "image": {
                                                    "shape": {
                                                        "dimensions": [
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                                                            "256",
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                                                        ]
                                                    },
                                                    "dtype": "uint8",
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                                                "description": "RGB captured by workspace camera"
                                            },
                                            "natural_language_embedding": {
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                                                "tensor": {
                                                    "shape": {
                                                        "dimensions": [
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                                        }
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                                },
                                "action": {
                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
                                    "featuresDict": {
                                        "features": {
                                            "world_vector": {
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                                            },
                                            "gripper_closedness_action": {
                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
                                                "tensor": {
                                                    "shape": {},
                                                    "dtype": "float32",
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                                            },
                                            "rotation_delta": {
                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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                                                    },
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                                            },
                                            "terminate_episode": {
                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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                                                    "shape": {},
                                                    "dtype": "float32",
                                                    "encoding": "none"
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                                        }
                                    }
                                },
                                "is_first": {
                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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                                        "shape": {},
                                        "dtype": "bool",
                                        "encoding": "none"
                                    }
                                },
                                "is_terminal": {
                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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                                        "dtype": "bool",
                                        "encoding": "none"
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                                },
                                "is_last": {
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                                    "tensor": {
                                        "shape": {},
                                        "dtype": "bool",
                                        "encoding": "none"
                                    }
                                },
                                "reward": {
                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
                                    "tensor": {
                                        "shape": {},
                                        "dtype": "float32",
                                        "encoding": "none"
                                    }
                                }
                            }
                        }
                    },
                    "length": "-1"
                }
            }
        }
    }
}