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import argparse | ||
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from gym_lowcostrobot.envs.lift_cube_env import LiftCubeEnv | ||
from gym_lowcostrobot.envs.reach_cube_env import ReachCubeEnv | ||
from gym_lowcostrobot.envs.push_cube_env import PushCubeEnv | ||
from gym_lowcostrobot.envs.pick_place_cube_env import PickPlaceCubeEnv | ||
from gym_lowcostrobot.envs.stack_env import StackEnv | ||
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from gym_lowcostrobot.envs.wrappers.record_hdf5 import RecordHDF5Wrapper | ||
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def do_record_hdf5(args): | ||
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env = ReachCubeEnv(render_mode=None, image_state="multi", action_mode="ee") | ||
env = RecordHDF5Wrapper(env, hdf5_folder="data", length=1000, name_prefix="reach") | ||
env.reset() | ||
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max_step = 20 | ||
for _ in range(max_step): | ||
action = env.action_space.sample() | ||
observation, reward, terminated, truncated, info = env.step(action) | ||
if terminated: | ||
env.reset() | ||
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env.close() | ||
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if __name__ == "__main__": | ||
parser = argparse.ArgumentParser(description="Trace video from HDF5 trace file") | ||
parser.add_argument("--file_path", type=str, default="data/episode_49.hdf5", help="Path to HDF5 file") | ||
args = parser.parse_args() | ||
do_record_hdf5(args) |
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"""Wrapper for recording videos.""" | ||
import os | ||
from typing import Callable, Optional | ||
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import gymnasium as gym | ||
from gymnasium import logger | ||
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import h5py | ||
import numpy as np | ||
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""" | ||
observations | ||
observations/images | ||
observations/images/front | ||
observations/images/top | ||
observations/qpos | ||
observations/qvel | ||
""" | ||
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class HDF5_Recorder: | ||
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def __init__(self): | ||
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self.step_id = 0 | ||
self.terminated = False | ||
self.truncated = False | ||
self.recorded_frames = 0 | ||
self.episode_id = 0 | ||
self.hdf5_file = None | ||
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self.lst_observations = [] | ||
self.lst_actions = [] | ||
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def start_hdf5_recorder(self, hdf5_file): | ||
"""Starts HDF5 recorder using :class:`HDF5_Recorder`.""" | ||
self.close() | ||
self.hdf5_file = hdf5_file | ||
self.recorded_frames = 1 | ||
self.recording = True | ||
self.episode_id += 1 | ||
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def capture_frame(self, observations, action): | ||
"""Captures frame to video.""" | ||
assert self.hdf5_file is not None | ||
self.lst_observations.append(observations) | ||
self.lst_actions.append(action) | ||
self.recorded_frames += 1 | ||
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# numpy.stack([item["image_front"] for item in self.lst_observations]) | ||
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def close(self): | ||
"""Closes the hdf5 file.""" | ||
if self.hdf5_file is not None: | ||
with h5py.File(self.hdf5_file, "w") as file: | ||
file.create_dataset("observations/images/front", data=np.stack([item["image_front"] for item in self.lst_observations])) | ||
file.create_dataset("observations/images/top", data=np.stack([item["image_top"] for item in self.lst_observations])) | ||
file.create_dataset("observations/qpos", data=np.stack([item["arm_qpos"] for item in self.lst_observations])) | ||
file.create_dataset("observations/qvel", data=np.stack([item["arm_qvel"] for item in self.lst_observations])) | ||
file.create_dataset("action", data=self.lst_actions) | ||
self.recorded_frames = 1 | ||
self.lst_observations = [] | ||
self.lst_actions = [] | ||
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class RecordHDF5Wrapper(gym.Wrapper): | ||
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def __init__( | ||
self, | ||
env: gym.Env, | ||
hdf5_folder: str, | ||
length: int = 0, | ||
name_prefix: str = "hdf5_record", | ||
disable_logger: bool = False, | ||
): | ||
gym.Wrapper.__init__(self, env) | ||
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self.hdf5_folder = os.path.abspath(hdf5_folder) | ||
self.hdf5_recorder = HDF5_Recorder() | ||
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if env.image_state != "multi": | ||
raise ValueError( | ||
f"Image state is {env.image_state}, which is incompatible with" | ||
f" RecordHDF5Wrapper. Initialize your environment with a image_state == multi" | ||
) | ||
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# Create output folder if needed | ||
if os.path.isdir(self.hdf5_folder): | ||
logger.warn( | ||
f"Overwriting existing videos at {self.hdf5_folder} folder " | ||
f"(try specifying a different `hdf5_folder` for the `RecordHDF5` wrapper if this is not desired)" | ||
) | ||
os.makedirs(self.hdf5_folder, exist_ok=True) | ||
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self.name_prefix = name_prefix | ||
self.length = length | ||
self.terminated = False | ||
self.episode_id = 0 | ||
self.env = env | ||
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try: | ||
self.is_vector_env = self.get_wrapper_attr("is_vector_env") | ||
except AttributeError: | ||
self.is_vector_env = False | ||
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def reset(self, **kwargs): | ||
"""Reset the environment using kwargs and then starts recording if video enabled.""" | ||
observations, _ = self.env.reset(**kwargs) | ||
self.terminated = False | ||
self.start_hdf5_recorder() | ||
return observations | ||
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def start_hdf5_recorder(self): | ||
"""Starts video recorder using :class:`video_recorder.VideoRecorder`.""" | ||
self.close_hdf5_recorder() | ||
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video_name = f"{self.name_prefix}-episode-{self.episode_id}.hdf5" | ||
self.hdf5_recorder.start_hdf5_recorder(hdf5_file=os.path.join(self.hdf5_folder, video_name)) | ||
self.recording = True | ||
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def step(self, action): | ||
"""Steps through the environment using action, recording observations if :attr:`self.recording`.""" | ||
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observations, rewards, terminateds, truncateds, infos = self.env.step(action) | ||
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# increment steps and episodes | ||
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if self.recording: | ||
assert self.hdf5_recorder is not None | ||
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self.hdf5_recorder.capture_frame(observations, action) | ||
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if self.length > 0: | ||
if self.hdf5_recorder.recorded_frames > self.length: | ||
self.close_hdf5_recorder() | ||
else: | ||
if not self.is_vector_env: | ||
if terminateds or truncateds: | ||
self.close_hdf5_recorder() | ||
elif terminateds[0] or truncateds[0]: | ||
self.close_hdf5_recorder() | ||
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return observations, rewards, terminateds, truncateds, infos | ||
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def close_hdf5_recorder(self): | ||
"""Closes the hdf5 recorder if currently recording.""" | ||
if self.hdf5_recorder is not None: | ||
self.hdf5_recorder.close() | ||
self.recorded_frames = 1 | ||
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def render(self, *args, **kwargs): | ||
return super().render(*args, **kwargs) | ||
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def close(self): | ||
"""Closes the wrapper then the video recorder.""" | ||
super().close() | ||
self.close_hdf5_recorder() |