[code] add load_script

RT-X.py

@@ -0,0 +1,139 @@
+
+from typing import Optional, List
+from dataclasses import dataclass
+from io import BytesIO
+from PIL import Image as PILImage
+import os
+import numpy as np
+import datasets
+
+try:
+    import webdataset as wds
+except ImportError:
+    os.system("python3 -m pip install webdataset")
+    import webdataset as wds
+
+
+def load_webdataset(filepath):
+    def decode_image(data):
+        if isinstance(data, dict):
+            data = {k: decode_image(v) for k, v in data.items()}
+        elif isinstance(data, tuple) or isinstance(data, list):
+            data = [decode_image(v) for v in data]
+        elif isinstance(data, np.ndarray):  # wds to datasets
+            data = data.tolist()
+        elif isinstance(data, bytes):
+            if len(data) > 1024:
+                data = PILImage.open(BytesIO(data))
+            else:
+                data = data.decode()
+        return data
+    return wds.WebDataset(filepath).decode().map(decode_image)
+
+
+_LICENSE = """\
+This is an unofficial Dataset Repo. 
+More information can be found here https://robotics-transformer-x.github.io/.
+
+Copyright Notice
+● Copyright 2023 DeepMind Technologies Limited
+● All software is licensed under the Apache License, Version 2.0 (Apache 2.0); you may
+not use this file except in compliance with the Apache 2.0 license. You may obtain a
+copy of the Apache 2.0 license at: https://www.apache.org/licenses/LICENSE-2.0
+● All other materials are licensed under the Creative Commons Attribution 4.0
+International License (CC-BY). You may obtain a copy of the CC-BY license at:
+https://creativecommons.org/licenses/by/4.0/legalcode
+● Unless required by applicable law or agreed to in writing, all software and materials
+distributed here under the Apache 2.0 or CC-BY licenses are distributed on an "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+implied. See the licenses for the specific language governing permissions and
+limitations under those licenses.
+● This is not an official Google product
+"""
+_RTX_DATASETS = {
+    'fractal20220817_data': 78,
+    'kuka': 448,
+    'bridge': 49,
+    'taco_play': 11,
+    'jaco_play': 2,
+    'berkeley_cable_routing': 1,
+    'roboturk': 7,
+    'nyu_door_opening_surprising_effectiveness': 2,
+    'viola': 2,
+    'berkeley_autolab_ur5': 20,
+    'toto': 19,
+    'language_table': 291,
+    'columbia_cairlab_pusht_real': 1,
+    'stanford_kuka_multimodal_dataset_converted_externally_to_rlds': 31,
+    'nyu_rot_dataset_converted_externally_to_rlds': 1,
+    'stanford_hydra_dataset_converted_externally_to_rlds': 11,
+    'austin_buds_dataset_converted_externally_to_rlds': 1,
+    'nyu_franka_play_dataset_converted_externally_to_rlds': 2,
+    'maniskill_dataset_converted_externally_to_rlds': 132,
+    'furniture_bench_dataset_converted_externally_to_rlds': 79,
+    'cmu_franka_exploration_dataset_converted_externally_to_rlds': 1,
+    'ucsd_kitchen_dataset_converted_externally_to_rlds': 1,
+    'ucsd_pick_and_place_dataset_converted_externally_to_rlds': 1,
+    'austin_sailor_dataset_converted_externally_to_rlds': 5,
+    'austin_sirius_dataset_converted_externally_to_rlds': 3,
+    'bc_z': 69,
+    'usc_cloth_sim_converted_externally_to_rlds': 1,
+    'utokyo_pr2_opening_fridge_converted_externally_to_rlds': 1,
+    'utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds': 1,
+    'utokyo_saytap_converted_externally_to_rlds': 1,
+    'utokyo_xarm_pick_and_place_converted_externally_to_rlds': 1,
+    'utokyo_xarm_bimanual_converted_externally_to_rlds': 1,
+    'robo_net': 142,
+    'berkeley_mvp_converted_externally_to_rlds': 2,
+    'berkeley_rpt_converted_externally_to_rlds': 9,
+    'kaist_nonprehensile_converted_externally_to_rlds': 2,
+    'stanford_mask_vit_converted_externally_to_rlds': 13,
+    'tokyo_u_lsmo_converted_externally_to_rlds': 1,
+    'dlr_sara_pour_converted_externally_to_rlds': 1,
+    'dlr_sara_grid_clamp_converted_externally_to_rlds': 1,
+    'dlr_edan_shared_control_converted_externally_to_rlds': 1,
+    'asu_table_top_converted_externally_to_rlds': 1,
+    'stanford_robocook_converted_externally_to_rlds': 25,
+    'eth_agent_affordances': 12,
+    'imperialcollege_sawyer_wrist_cam': 1,
+    'iamlab_cmu_pickup_insert_converted_externally_to_rlds': 7,
+    'uiuc_d3field': 5,
+    'utaustin_mutex': 6,
+    'berkeley_fanuc_manipulation': 2,
+    'cmu_playing_with_food': 8,
+    'cmu_play_fusion': 2,
+    'cmu_stretch': 1,
+    'berkeley_gnm_recon': 6,
+    'berkeley_gnm_cory_hall': 1,
+    'berkeley_gnm_sac_son': 3
+}
+_RTX_DATASETS_URLS = {k: [f"{k}/{k}_{i:05d}.tar" for i in range(v)] for k, v in _RTX_DATASETS.items()}
+
+
+@dataclass
+class RTXConfig(datasets.BuilderConfig):
+    features: Optional[datasets.Features] = None
+
+
+class RTXDataset(datasets.GeneratorBasedBuilder):
+    VERSION = datasets.Version("1.0.0")
+    BUILDER_CONFIG_CLASS = RTXConfig
+    BUILDER_CONFIGS = [RTXConfig(name=dn) for dn in _RTX_DATASETS.keys()]
+    DEFAULT_CONFIG_NAME = "fractal20220817_data"
+
+    def _info(self):
+        return datasets.DatasetInfo(features=self.config.features)
+
+    def _split_generators(self, dl_manager: datasets.DownloadManager):
+        files = dl_manager.download(_RTX_DATASETS_URLS[self.info.config_name])
+        if self.info.features is None:
+            for d in load_webdataset(files[0]):
+                self.info.features = datasets.Dataset.from_list([d]).features
+                break
+        return [datasets.SplitGenerator(name=datasets.Split.TRAIN, gen_kwargs={"files": files})]
+
+    def _generate_examples(self, files):
+        print(self.info.features)
+        for file in files:
+            for d in load_webdataset(file):
+                yield f"{d['__url__']}_{d['__key__']}", d