o NiB@sdZddlmZddlmZddlmZddlZddlZddlZddl m m Z ddl mZdZdZdZdZd ZGd d d ejjZGd d d ejjZdS)zRoboNet dataset. RoboNet: Large-Scale Multi-Robot Learning Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, Chelsea Finn https://www.robonet.wiki/ )absolute_import)division)print_functionNzPhttps://drive.google.com/uc?export=download&id=1YX2TgT8IKSn9V4wGCwdzbRnS53yicV2PzPhttps://drive.google.com/uc?export=download&id=1BkqHzfRkfzgzCfc73NbNnPMK_rg3i1n9aK@article{dasari2019robonet, title={RoboNet: Large-Scale Multi-Robot Learning}, author={Dasari, Sudeep and Ebert, Frederik and Tian, Stephen and Nair, Suraj and Bucher, Bernadette and Schmeckpeper, Karl and Singh, Siddharth and Levine, Sergey and Finn, Chelsea}, journal={arXiv preprint arXiv:1910.11215}, year={2019} } cs*eZdZdZejjdfdd ZZS) RobonetConfigz+"Configuration for RoboNet video rescaling.FNc sPtt|jddtjdi||du|duArtd||_||_||_ dS)aThe parameters specifying how the dataset will be processed. The dataset comes with three separate splits. You can specify which split you want in `split_number`. If `width` and `height` are set, the videos will be rescaled to have those heights and widths (using ffmpeg). Args: sample_dataset: Whether or not to use the sample dataset. width: An integer with the width or None. height: An integer with the height or None. **kwargs: Passed on to the constructor of `BuilderConfig`. versionz4.0.0Nz5Either both dimensions should be set, or none of them) superr__init__tfdscoreVersion ValueErrorsample_datasetwidthheight)selfrrrkwargs __class__rU/home/ubuntu/.local/lib/python3.10/site-packages/tensorflow_datasets/video/robonet.pyr ?s  zRobonetConfig.__init__)FNN) __name__ __module__ __qualname____doc__r r disallow_positional_argsr __classcell__rrrrr<src @sleZdZdZeddddddedddd d ded d d ddded dd d d dgZddZddZddZdS)Robonetz*RoboNet: Large-Scale Multi-Robot Learning.robonet_sample_64z64x64 RoboNet Sample.T@)name descriptionrrrrobonet_sample_128z128x128 RoboNet Sample. robonet_64z64x64 RoboNet.F robonet_128z128x128 RoboNet.cCs|jjdur|jjdurtddd|jj|jjf}ng}d|jj|jjdf}tjtjj||ddtjj dt ft j dtjj dt ft j dd}tjj|td |d td S) Nz-Provide either both height and width or none.z-vfz scale={}x{}png)ffmpeg_extra_argsencoding_format)shapedtypevideoactionsstatesa RoboNet contains over 15 million video frames of robot-object interaction, taken from 113 unique camera viewpoints. * The actions are deltas in position and rotation to the robot end-effector with one additional dimension of the action vector reserved for the gripper joint. * The states are cartesian end-effector control action space with restricted rotation, and a gripper jointzhttps://www.robonet.wiki/)builderr!featureshomepagecitation)builder_configrrrformatr r1 FeaturesDictVideoTensor ACTIONS_DIMtffloat32 STATES_DIMr DatasetInfotextwrapdedent _CITATION)rr( video_shaper1rrr_infoxs<      z Robonet._infocCs:||jjrtnt}tjjtjj dt j |didgS)Nfiledirhdf5)r gen_kwargs) download_and_extractr4rDATA_URL_SAMPLEDATA_URLr r SplitGeneratorSplitTRAINospathjoin)r dl_managerfilesrrr_split_generatorsszRobonet._split_generatorscCsBtjjj}dd}tjjtj |d}|| |B| |BS)zGenerate examples as dicts.c Sstjjj}||R}|ddddd}|ddddtj}t |ddt |j dffd }|d d ddtj}t |ddt |j dffd }Wdn1s_wY|||d }t j||fS) z$Converts one video from hdf5 format.env cam0_videoframesNstate)rrrconstantpolicyr.r,)r r lazy_importsh5pyFiletostringastypenpr;padr<r*r9rLrMbasename)filenamerZhf video_bytesr/r.r1rrr_process_examples"   z4Robonet._build_pcollection.._process_examplez*.hdf5) r r rY apache_beamr:iogfileglobrLrMrNCreateMap)rpipelinerCbeamrd filenamesrrr_build_pcollections zRobonet._build_pcollectionN) rrrrrBUILDER_CONFIGSrBrQrnrrrrrVsD, r)r __future__rrrrLr>numpyr^tensorflow.compat.v2compatv2r:tensorflow_datasets.public_api public_apir rGrHr<r9r@r BuilderConfigrBeamBasedBuilderrrrrrs