Create load_tfds_example.py

load_tfds_example.py

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+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"])