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Sim Library Improvements #116

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merged 6 commits into from
Nov 21, 2024
Merged

Sim Library Improvements #116

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cae7a62
add cmd arg for h5 output path with sensible default
alik-git Nov 20, 2024
833f03a
save current actions to h5
alik-git Nov 20, 2024
6a65d01
add h5out as arg to produce_sim_data as well
alik-git Nov 20, 2024
df09d0d
compute actions before saving them
alik-git Nov 20, 2024
102a770
typo fix: args.log_h5 -> log_h5
alik-git Nov 20, 2024
0eb70d3
fix: rename actions to prev_actions, and set prev_action to curr_acti…
alik-git Nov 21, 2024
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13 changes: 11 additions & 2 deletions sim/h5_logger.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,22 +6,31 @@
import h5py
import matplotlib.pyplot as plt
import numpy as np
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add the logic to the sim/produce_sim_data to use it as well

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addressed in 6a65d01

from datetime import datetime


class HDF5Logger:
def __init__(self, data_name: str, num_actions: int, max_timesteps: int, num_observations: int):
def __init__(self, data_name: str, num_actions: int, max_timesteps: int, num_observations: int, h5_out_dir: str = "sim/resources/"):
self.data_name = data_name
self.num_actions = num_actions
self.max_timesteps = max_timesteps
self.num_observations = num_observations
self.max_threshold = 1e3 # Adjust this threshold as needed
self.h5_out_dir = h5_out_dir
self.h5_file, self.h5_dict = self._create_h5_file()
self.current_timestep = 0

def _create_h5_file(self):
# Create a unique file ID
idd = str(uuid.uuid4())
h5_file = h5py.File(f"{self.data_name}/{idd}.h5", "w")
timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")

curr_h5_out_dir = f"{self.h5_out_dir}/{self.data_name}/h5_out/"
os.makedirs(curr_h5_out_dir, exist_ok=True)

h5_file_path = f"{curr_h5_out_dir}/{timestamp}__{idd}.h5"
print(f"Saving HDF5 data to {h5_file_path}")
h5_file = h5py.File(h5_file_path, "w")

# Create datasets for logging actions and observations
dset_actions = h5_file.create_dataset("prev_actions", (self.max_timesteps, self.num_actions), dtype=np.float32)
Expand Down
11 changes: 10 additions & 1 deletion sim/sim2sim.py
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Expand Up @@ -110,6 +110,7 @@ def run_mujoco(
keyboard_use: bool = False,
log_h5: bool = False,
render: bool = True,
h5_out_dir: str = "sim/resources",
) -> None:
"""
Run the Mujoco simulation using the provided policy and configuration.
Expand Down Expand Up @@ -178,7 +179,13 @@ def run_mujoco(

if log_h5:
stop_state_log = int(cfg.sim_duration / cfg.dt) / cfg.decimation
logger = HDF5Logger(embodiment, model_info["num_actions"], stop_state_log, model_info["num_observations"])
logger = HDF5Logger(
data_name=embodiment,
num_actions=model_info["num_actions"],
max_timesteps=stop_state_log,
num_observations=model_info["num_observations"],
h5_out_dir=h5_out_dir
)

# Initialize variables for tracking upright steps and average speed
upright_steps = 0
Expand Down Expand Up @@ -312,6 +319,7 @@ def parse_modelmeta(
parser.add_argument("--load_model", type=str, required=True, help="Path to run to load from.")
parser.add_argument("--keyboard_use", action="store_true", help="keyboard_use")
parser.add_argument("--log_h5", action="store_true", help="log_h5")
parser.add_argument("--h5_out_dir", type=str, default="sim/resources", help="Directory to save HDF5 files")
parser.add_argument("--no_render", action="store_false", dest="render", help="Disable rendering")
parser.set_defaults(render=True)
args = parser.parse_args()
Expand Down Expand Up @@ -363,4 +371,5 @@ def parse_modelmeta(
args.keyboard_use,
args.log_h5,
args.render,
args.h5_out_dir,
)
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