diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..f1feb3b11ca1504ab85e8c50b58603b02ce1722e 100644 --- a/.gitattributes +++ b/.gitattributes @@ -57,3 +57,51 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00011-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00000-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00010-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00003-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00018-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00016-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00015-of-00064 filter=lfs diff=lfs merge=lfs -text +maniskill_human-test.tfrecord-00007-of-00064 filter=lfs 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"releaseNotes": { + "1.0.0": "Available maniskillmotionplanning demo data.Motionplanning demos include the PickCube-v1 tasksIt includes human render camera", + "2.0.0": "Available maniskill rl and motionplanning demo data.Motionplanning and rl demos include the PickCube-v1 tasksIt includes human render camera", + "3.0.0": "Maniskill_Demonstrations_HumanCamV2 including PickCube-v1 task in train and push-cube in val, pull-cube in testIt includes human render camera with non-rt shader", + "4.0.0": "whole Maniskill_Demonstrations_HumanCamV2 dataset", + "5.0.0": "whole Maniskill_Demonstrations_HumanCamV2 dataset but only rl", + "6.0.0": "Maniskill_Demonstrations_HumanCamV2 including PickCube-v1 task in train and push-cube in val, pull-cube in testIt includes human render camera with non-rt shader but only rl", + "7.0.0": "whole maniskill dataset but with pick-cube in val and push-cube in test but on only rl" + }, + "splits": [ + { + "filepathTemplate": 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"tensorflow_datasets.core.features.text_feature.Text", + "text": {} + }, + "file_path": { + "description": "Path to the original data file including dataset name represented as timestamp.", + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {} + } + } + }, + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + }, + "steps": { + "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", + "sequence": { + "feature": { + "featuresDict": { + "features": { + "action": { + "description": "Action according to maniskill pd_ee_delta_pose format [3x RPY ee orientation in robot frame, 1x gripper position (-1 is closed and 1 is open)].", + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "dtype": "float32", + "encoding": "none", + "shape": { + "dimensions": [ + "7" + ] + } + } + }, + "discount": { + "description": "Discount if provided, default to 1.", + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "dtype": "float32", + "encoding": "none", + "shape": {} + } + }, + "env_id": { + "description": "env registration id.", + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {} + }, + "is_first": { + "description": "True on first step of the episode.", + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "dtype": "bool", + "encoding": "none", + "shape": {} + } + }, + "is_last": { + "description": "True on last step of the episode.", + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "dtype": "bool", + "encoding": "none", + "shape": {} + } + }, + "is_terminal": { + "description": "True on last step of the episode if it is a terminal step, True for demos.", + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "dtype": "bool", + "encoding": "none", + "shape": {} + } + }, + "language_embedding": { + "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5", + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "dtype": "float32", + "encoding": "none", + "shape": { + "dimensions": [ + "512" + ] + } + } + }, + "language_instruction": { + "description": "Language Instruction.", + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {} + }, + "observation": { + "featuresDict": { + "features": { + "gripper": { + "description": "2 finger joints.", + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "dtype": "float32", + "encoding": "none", + "shape": { + "dimensions": [ + "2" + ] + } + } + }, + "proprio": { + "description": "7 joints proprioception, consists of [j1, j2, j3, j4, j5, j6, j7].", + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "dtype": "float32", + "encoding": "none", + "shape": { + "dimensions": [ + "7" + ] + } + } + }, + "rgb_0": { + "description": "Main RGB camera.", + "image": { + "dtype": "uint8", + "encodingFormat": "png", + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + } + }, + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "rgb_1": { + "description": "Human render RGB camera in maniskill, shows clues about the task not present in rgb_0.", + "image": { + "dtype": "uint8", + "encodingFormat": "png", + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + } + }, + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image" + }, + "tquat": { + "description": "3 translation 4 quaternion.", + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "dtype": "float32", + "encoding": "none", + "shape": { + "dimensions": [ + "7" + ] + } + } + } + } + }, + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict" + }, + "rcs_action": { + "description": "Action 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