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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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--- |
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# Dataset |
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<video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/6018554e68258223ca22136f/6og2VldKOfp0Ci31h-r_w.mp4"></video> |
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This dataset is used to train a transporter network for real-world pick/place within the RAD lab at the University of Edinburgh. The dataset is in TFDS format and was collected using [moveit2_data_collector](https://github.com/peterdavidfagan/moveit2_data_collector). In its current state the dataset is being tested as we are proving out this overall pipeline, keep monitoring this dataset and related repos for documentation updates. |
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# Download |
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An example of downloading and loading the dataset is given below, as larger datasets are uploaded this example script will change: |
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```python |
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import os |
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import tarfile |
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import tensorflow_datasets as tfds |
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from huggingface_hub import hf_hub_download |
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DATA_DIR="/home/robot" |
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FILENAME="data.tar.xz" |
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EXTRACTED_FILENAME="data" |
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FILEPATH=os.path.join(DATA_DIR, FILENAME) |
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EXTRACTED_FILEPATH=os.path.join(DATA_DIR, EXTRACTED_FILENAME) |
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# download data from huggingface |
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hf_hub_download( |
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repo_id="peterdavidfagan/transporter_networks", |
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repo_type="dataset", |
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filename=FILENAME, |
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local_dir=DATA_DIR, |
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) |
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# uncompress file |
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with tarfile.open(FILEPATH, 'r:xz') as tar: |
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tar.extractall(path=DATA_DIR) |
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os.remove(FILEPATH) |
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# load with tfds |
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ds = tfds.builder_from_directory(EXTRACTED_FILEPATH).as_dataset()['train'] |
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# basic inspection of data |
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print(ds.element_spec) |
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for eps in ds: |
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print(eps["extrinsics"]) |
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for step in eps["steps"]: |
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print(step["is_first"]) |
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print(step["is_last"]) |
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print(step["is_terminal"]) |
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print(step["action"]) |
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``` |
