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index 0000000000000000000000000000000000000000..95618cfd38b71707537eb1334d7bdbb06ba62de6
--- /dev/null
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diff --git a/droid/1.0.0/features.json b/droid/1.0.0/features.json
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+{
+    "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": {
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float64",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action, consists of [6x joint velocities, 1x gripper position]."
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "language_instruction_3": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "string",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Language Instruction 3."
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "gripper_position": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Gripper position statae"
+                                            },
+                                            "cartesian_position": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "6"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot Cartesian state"
+                                            },
+                                            "wrist_image_left": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Wrist camera RGB left viewpoint"
+                                            },
+                                            "joint_position": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Joint position state"
+                                            },
+                                            "exterior_image_2_left": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Exterior camera 2 left viewpoint"
+                                            },
+                                            "exterior_image_1_left": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "Exterior camera 1 left viewpoint"
+                                            }
+                                        }
+                                    }
+                                },
+                                "action_dict": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "gripper_position": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Commanded gripper position"
+                                            },
+                                            "cartesian_velocity": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "6"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Commanded Cartesian velocity"
+                                            },
+                                            "cartesian_position": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "6"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Commanded Cartesian position"
+                                            },
+                                            "gripper_velocity": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Commanded gripper velocity"
+                                            },
+                                            "joint_position": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Commanded joint position"
+                                            },
+                                            "joint_velocity": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float64",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Commanded joint velocity"
+                                            }
+                                        }
+                                    }
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "string",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Language Instruction."
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "language_instruction_2": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "string",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Language Instruction 2."
+                                },
+                                "is_terminal": {
+                                    "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"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                }
+                            }
+                        }
+                    },
+                    "length": "-1"
+                }
+            },
+            "episode_metadata": {
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                "featuresDict": {
+                    "features": {
+                        "recording_folderpath": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "string",
+                                "encoding": "none"
+                            },
+                            "description": "Path to the folder of recordings."
+                        },
+                        "file_path": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "string",
+                                "encoding": "none"
+                            },
+                            "description": "Path to the original data file."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file