def get_demos(self, amount: int, live_demos: bool = False,
image_paths: bool = False,
callable_each_step: Callable[[Observation], None] = None,
max_attempts: int = _MAX_DEMO_ATTEMPTS,
) -> List[Demo]:
"""Negative means all demos"""
if not live_demos and (self._dataset_root is None
or len(self._dataset_root) == 0):
raise RuntimeError(
"Can't ask for a stored demo when no dataset root provided.")
if not live_demos:
if self._dataset_root is None or len(self._dataset_root) == 0:
raise RuntimeError(
"Can't ask for stored demo when no dataset root provided.")
demos = utils.get_stored_demos(
amount, image_paths, self._dataset_root, self._variation_number,
self._task.get_name(), self._obs_config)
else:
ctr_loop = self._robot.arm.joints[0].is_control_loop_enabled()
self._robot.arm.joints[0].set_control_loop_enabled(True)
demos = self._get_live_demos(
amount, callable_each_step, max_attempts)
self._robot.arm.joints[0].set_control_loop_enabled(ctr_loop)
return demos
def get_demos(self, task_name: str, amount: int,
variation_number=0,
image_paths=False) -> List[Demo]:
if self._dataset_root is None or len(self._dataset_root) == 0:
raise RuntimeError(
"Can't ask for a stored demo when no dataset root provided.")
demos = utils.get_stored_demos(
amount, image_paths, self._dataset_root, variation_number,
task_name, self._obs_config)
return demos