Datasets:
| import os | |
| import tarfile | |
| import tensorflow_datasets as tfds | |
| from huggingface_hub import hf_hub_download | |
| DATA_DIR="/home/robot" | |
| FILENAME="data.tar.xz" | |
| EXTRACTED_FILENAME="data" | |
| FILEPATH=os.path.join(DATA_DIR, FILENAME) | |
| EXTRACTED_FILEPATH=os.path.join(DATA_DIR, EXTRACTED_FILENAME) | |
| # download data from huggingface | |
| hf_hub_download( | |
| repo_id="peterdavidfagan/transporter_networks", | |
| repo_type="dataset", | |
| filename=FILENAME, | |
| local_dir=DATA_DIR, | |
| ) | |
| # uncompress file | |
| with tarfile.open(FILEPATH, 'r:xz') as tar: | |
| tar.extractall(path=DATA_DIR) | |
| os.remove(FILEPATH) | |
| # load with tfds | |
| ds = tfds.builder_from_directory(EXTRACTED_FILEPATH).as_dataset()['train'] | |
| # basic inspection of data | |
| print(ds.element_spec) | |
| for eps in ds: | |
| print(eps["extrinsics"]) | |
| for step in eps["steps"]: | |
| print(step["is_first"]) | |
| print(step["is_last"]) | |
| print(step["is_terminal"]) | |
| print(step["action"]) | |