def main(env, demo_dir, skip, graph, save_logs, view, render):
gym_env = gym.make(env)
paths = []
print("Scanning demo_dir: " + demo_dir + "=========")
print(glob.glob(demo_dir + "/**/*.mjl", recursive=True))
for ind, file in enumerate(
glob.glob(demo_dir + "/**/*.mjl", recursive=True)):
# process logs
print("processing: " + file, end=': ')
data = parse_mjl_logs(file, skip)
print("log duration %0.2f" % (data['time'][-1] - data['time'][0]))
# plot logs
if (graph):
print("plotting: " + file)
viz_parsed_mjl_logs(data)
# save logs
if (save_logs):
pickle.dump(data, open(file[:-4] + ".pkl", 'wb'))
# render logs to video
if view == 'render':
pass
# render_demos(
# gym_env,
# data,
# filename=data['logName'][:-4] + '_demo_render.mp4',
# render=render)
# playback logs and gather data
elif view == 'playback':
try:
obs, act,init_qpos, init_qvel = gather_training_data(gym_env, data,\
filename=data['logName'][:-4]+'_playback.mp4', render=render)
except Exception as e:
print(e)
continue
path = {
'observations': obs,
'actions': act,
'goals': obs,
'init_qpos': init_qpos,
'init_qvel': init_qvel
}
paths.append(path)
# accept = input('accept demo?')
# if accept == 'n':
# continue
pickle.dump(path,
open(demo_dir + env + str(ind) + "_path.pkl", 'wb'))
pickle.dump(path,
open(demo_dir + env + str(ind) + "_path.pkl", 'wb'))
print(demo_dir + env + file + "_path.pkl")
def main(env, demo_dir, skip, graph, save_logs, view, render):
gym_env = gym.make(env)
paths = []
print("Scanning demo_dir: " + demo_dir + "=========")
for ind, file in enumerate(glob.glob(demo_dir + "*.mjl")):
# process logs
print("processing: " + file, end=": ")
data = parse_mjl_logs(file, skip)
print("log duration %0.2f" % (data["time"][-1] - data["time"][0]))
# plot logs
if graph:
print("plotting: " + file)
viz_parsed_mjl_logs(data)
# save logs
if save_logs:
pickle.dump(data, open(file[:-4] + ".pkl", "wb"))
# render logs to video
if view == "render":
render_demos(
gym_env,
data,
filename=data["logName"][:-4] + "_demo_render.mp4",
render=render,
)
# playback logs and gather data
elif view == "playback":
try:
obs, act, init_qpos, init_qvel = gather_training_data(
gym_env,
data,
filename=data["logName"][:-4] + "_playback.mp4",
render=render,
)
except Exception as e:
print(e)
continue
path = {
"observations": obs,
"actions": act,
"goals": obs,
"init_qpos": init_qpos,
"init_qvel": init_qvel,
}
paths.append(path)
# accept = input('accept demo?')
# if accept == 'n':
# continue
pickle.dump(path, open(demo_dir + env + str(ind) + "_path.pkl", "wb"))
print(demo_dir + env + file + "_path.pkl")
def main(env, demo_dir, skip, graph, save_logs, view, render):
gym_env = gym.make(env)
#paths = []
#demo_dirs = ["friday_kettle_bottomknob_hinge_slide", "friday_kettle_bottomknob_switch_slide",
# "friday_kettle_switch_hinge_slide", "friday_kettle_topknob_bottomknob_slide",
# "friday_kettle_topknob_switch_slide", "friday_microwave_bottomknob_hinge_slide",
# "friday_microwave_bottomknob_switch_slide", "friday_microwave_kettle_bottomknob_hinge",
# "friday_microwave_kettle_bottomknob_slide","friday_microwave_kettle_hinge_slide",
# "friday_microwave_kettle_switch_slide", "friday_microwave_kettle_topknob_hinge"]
demo_dirs = [
"friday_microwave_kettle_topknob_switch",
"friday_microwave_topknob_bottomknob_hinge",
"friday_microwave_topknob_bottomknob_slide",
"friday_topknob_bottomknob_switch_slide",
"postcorl_kettle_bottomknob_switch_hinge",
"postcorl_kettle_topknob_bottomknob_hinge",
"postcorl_kettle_topknob_bottomknob_switch",
"postcorl_microwave_bottomknob_switch_slide",
"postcorl_microwave_kettle_switch_hinge",
"postcorl_microwave_switch_hinge_slide",
"postcorl_microwave_topknob_bottomknob_switch",
"postcorl_microwave_topknob_switch_hinge"
]
#create dirs
video_dir = "./videos/"
data_dir = "./data/"
Path(video_dir).mkdir(parents=True, exist_ok=True)
Path(data_dir).mkdir(parents=True, exist_ok=True)
for demo_dir in demo_dirs:
print("Scanning demo_dir: " + demo_dir + "=========")
comp_demo_dir = "./kitchen_demos_multitask/" + demo_dir + "/"
for ind, file in enumerate(glob.glob(comp_demo_dir + "*.mjl")):
# process logs
print("processing: " + file, end=': ')
data = parse_mjl_logs(file, skip)
print("log duration %0.2f" % (data['time'][-1] - data['time'][0]))
# plot logs
if (graph):
print("plotting: " + file)
viz_parsed_mjl_logs(data)
# save logs
if (save_logs):
pickle.dump(data, open(file[:-4] + ".pkl", 'wb'))
# render logs to video
if view == 'render':
render_demos(gym_env,
data,
filename=data['logName'][:-4] +
'_demo_render.mp4',
render=render)
# playback logs and gather data
elif view == 'playback':
try:
obs, imgs, act, init_qpos, init_qvel = gather_training_data(gym_env, data,\
filename=video_dir + demo_dir + "_" + str(ind) + '.mp4', render=render)
#data['logName'][:-4]+'_playback.mp4', render=render)
except Exception as e:
print(e)
continue
path = {
'observations': obs,
'images': imgs,
'actions': act,
'goals': obs,
'init_qpos': init_qpos,
'init_qvel': init_qvel
}
#paths.append(path)
pickle.dump(
path,
open(data_dir + demo_dir + "_" + str(ind) + "_path.pkl",
'wb'))