def __init__(self, config: Config):
#if model_type == "mujoco_offline":
self.selector_name = config.selector_name
with open(config.model_config_file, "rb") as f:
model_config = pickle.load(f)
model_config = Munch(model_config)
model_config.B = 1
if "fix_crop" not in model_config:
model_config.fix_crop = False
if config.model_type == "mujoco_offline":
self.model = model_nets.mujoco_offline.MujocoOffline(model_config)
elif config.model_type == "mujoco_offline_metric":
self.model = model_nets.mujoco_offline_metric.MujocoOfflineMetric(
model_config)
self.saveload_config = dict()
self.saveload_config["total_init"] = True
self.saveload_config["reset_iter"] = False
self.saveload_config["loadname"] = dict()
ckpt_dict = eval(config.ckpt_dict)
for key in ckpt_dict:
self.saveload_config["loadname"][key] = ckpt_dict[key]
self.saveload_config = Munch(self.saveload_config)
self.saverloader = saverloader.SaverLoader(self.saveload_config,
self.model,
load_only=True)
start_iter = self.saverloader.load_weights(optimizer=None)
if config.model_type == "mujoco_offline":
with open(config.cluster_pkl_file, 'rb') as f:
self.cluster_centers = pickle.load(f)
for center_name in self.cluster_centers:
# key is string
# center is B x H x W x D x C
self.cluster_centers[center_name] = np.expand_dims(
self.cluster_centers[center_name], axis=0)
elif config.model_type == "mujoco_offline_metric":
self.cluster_centers = self.model.get_cluster_centers_dict()
def __init__(self, config: Config):
self.config = config
with open(config.model_config_file, "rb") as f:
model_config = pickle.load(f)
model_config = Munch(model_config)
model_config.B = 1
self.model = model_nets.mujoco_offline.MujocoOffline(model_config)
self.saveload_config = dict()
self.saveload_config["total_init"] = True
self.saveload_config["reset_iter"] = False
self.saveload_config["loadname"] = dict()
ckpt_dict = eval(config.ckpt_dict)
for key in ckpt_dict:
self.saveload_config["loadname"][key] = ckpt_dict[key]
self.saveload_config = Munch(self.saveload_config)
self.saverloader = saverloader.SaverLoader(self.saveload_config,
self.model,
load_only=True)
start_iter = self.saverloader.load_weights(optimizer=None)
# setup camera
self.camera_positions, self.camera_quats = pcp_utils.cameras.generate_new_cameras_hemisphere(
radius=self.config.camera_radius,
lookat_point=self.config.camera_lookat_pos,
pitch=self.config.camera_pitch,
yaw=self.config.camera_yaw,
yaw_list=self.config.camera_yaw_list)
self.n_cams = len(self.camera_positions)
mujoco_T_adam = np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]],
dtype=np.float32)
origin_T_camR_xpos = np.array(config.table_top, np.float32) + np.array(
config.table_T_camR, np.float)
origin_T_adam = np.zeros((4, 4), dtype=np.float32)
origin_T_adam[:3, :3] = mujoco_T_adam
origin_T_adam[:3, 3] = origin_T_camR_xpos
origin_T_adam[3, 3] = 1
self.origin_T_adam = origin_T_adam
self.adam_T_origin = np.linalg.inv(self.origin_T_adam)
