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113
+ ]
114
+ },
115
+ "dtype": "float32",
116
+ "encoding": "none"
117
+ },
118
+ "description": "The gravity vector [0, 0, -1] in the robot base frame."
119
+ },
120
+ "prev_act": {
121
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
122
+ "tensor": {
123
+ "shape": {
124
+ "dimensions": [
125
+ "12"
126
+ ]
127
+ },
128
+ "dtype": "float32",
129
+ "encoding": "none"
130
+ },
131
+ "description": "Actions applied in the previous step."
132
+ },
133
+ "image": {
134
+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
135
+ "image": {
136
+ "shape": {
137
+ "dimensions": [
138
+ "64",
139
+ "64",
140
+ "3"
141
+ ]
142
+ },
143
+ "dtype": "uint8",
144
+ "encodingFormat": "png"
145
+ },
146
+ "description": "Dummy camera RGB observation."
147
+ },
148
+ "desired_vel": {
149
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
150
+ "tensor": {
151
+ "shape": {
152
+ "dimensions": [
153
+ "3"
154
+ ]
155
+ },
156
+ "dtype": "float32",
157
+ "encoding": "none"
158
+ },
159
+ "description": "Desired velocites. The first 2 are linear velocities along and perpendicular to the heading direction, the 3rd is the desired angular velocity about the yaw axis."
160
+ },
161
+ "state": {
162
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
163
+ "tensor": {
164
+ "shape": {
165
+ "dimensions": [
166
+ "30"
167
+ ]
168
+ },
169
+ "dtype": "float32",
170
+ "encoding": "none"
171
+ },
172
+ "description": "Robot state, consists of [3x robot base linear velocity, 3x base angular vel, 12x joint position, 12x joint velocity]."
173
+ },
174
+ "desired_pattern": {
175
+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
176
+ "tensor": {
177
+ "shape": {
178
+ "dimensions": [
179
+ "4",
180
+ "5"
181
+ ]
182
+ },
183
+ "dtype": "bool",
184
+ "encoding": "none"
185
+ },
186
+ "description": "Desired foot contact pattern for the 4 legs, the 4 rows are for the front right, front left, rear right and rear left legs, the pattern length is 5 (=0.1s)."
187
+ }
188
+ }
189
+ }
190
+ },
191
+ "reward": {
192
+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
193
+ "tensor": {
194
+ "shape": {},
195
+ "dtype": "float32",
196
+ "encoding": "none"
197
+ },
198
+ "description": "Reward if provided, 1 on final step for demos."
199
+ }
200
+ }
201
+ }
202
+ },
203
+ "length": "-1"
204
+ }
205
+ }
206
+ }
207
+ }
208
+ }