Create README.md

README.md

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+---
+task_categories:
+- robotics
+---
+
+## bridge dataset
+
+version `1.0.0` consists of 60K trajectories in RLDS format
+
+To use:
+
+```py
+import tensorflow_datasets as tfds
+import tqdm
+import argparse
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--rlds_dir", type=str, default="bridge_data/1.0.0")
+    args = parser.parse_args()
+
+    ds_builder = tfds.builder_from_directory(args.rlds_dir)
+    dataset = ds_builder.as_dataset(split='all')
+
+    ds_length = len(dataset)
+    dataset = dataset.take(ds_length)
+    it = iter(dataset)
+
+    for i in tqdm.tqdm(range(ds_length)):
+        episode = next(it)
+        print("episode: ", i)
+        steps = episode['steps']
+        print("key in a traj: ", episode.keys())
+
+        for j, step in enumerate(steps):
+            # print(step['observation'].keys())
+            print(f" [step {j}] action: ", step["action"])
+            print(f" [step {j}] state: ", step['observation']['state'])
+```