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replay_action.py
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replay_action.py
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import hydra
import time
import numpy as np
import pathlib
import imageio
import scipy.spatial.transform as st
from tqdm import tqdm
from omegaconf import OmegaConf
from codebase.real_world.iiwaPy3 import IIWAPositionalController
from codebase.real_world.robotiq85 import Robotiq85
from multiprocessing.managers import SharedMemoryManager
np.set_printoptions(precision=2, suppress=True, linewidth=100, threshold=np.inf)
OmegaConf.register_new_resolver("eval", eval, replace=True)
with hydra.initialize("./codebase/diffusion_policy/config"):
cfg = hydra.compose("train_diffusion_transformer_hybrid_workspace")
OmegaConf.resolve(cfg)
dataset = hydra.utils.instantiate(cfg.task.dataset)
print(dataset.replay_buffer.root.tree())
output_path = pathlib.Path(
"/home/shawn/Documents/pyspacemouse-coppeliasim/data/test_x/camera_1"
)
output_path.mkdir(parents=True, exist_ok=True)
episode_end = dataset.replay_buffer.root["meta"]["episode_ends"]
length = len(episode_end)
with tqdm(range(length), desc="Img2Mv", leave=False) as pbar:
for idx in pbar:
if idx == 0:
start_idx = 0
else:
start_idx = episode_end[idx - 1]
ending_idx = episode_end[idx]
camera_0 = dataset.replay_buffer.root["data"]["camera_1"][start_idx:ending_idx]
mv_path = output_path / f"demo_{idx}.mp4"
writer = imageio.get_writer(mv_path, fps=10)
for img in camera_0:
img = np.uint8(img)
writer.append_data(img)
writer.close()
# episode_end = dataset.replay_buffer.root["meta"]["episode_ends"]
# actions_set = dataset.replay_buffer.root["data"]["action"][
# episode_end[-2] : episode_end[-1]
# ]
# print(actions_set)
# for action in actions_set:
# print(action)
# eef_pos = dataset.replay_buffer.root["data"]["robot_eef_pos"][:episode_end]
# eef_rot = dataset.replay_buffer.root["data"]["robot_eef_rot"][:episode_end]
# eef_pose = np.concatenate((eef_pos, eef_rot), axis=1)
# for idx in range(episode_end):
# print(actions_set[idx][:6], " | ", (actions_set[idx][:6] - eef_pose[idx]))
# shm_manager = SharedMemoryManager()
# shm_manager.start()
# REMOTER = IIWAPositionalController(
# shm_manager=shm_manager,
# host="172.31.1.147",
# port=30001,
# receive_keys=None,
# max_pos_speed=128,
# max_rot_speed=0.8,
# )
# gripper = Robotiq85(shm_manager=shm_manager, frequency=100, receive_keys=None)
# Open = True
# last = 0
# time.sleep(1)
# REMOTER.reset_initial_state()
# init_eef_pos = REMOTER.getEEFPos()
# REMOTER.realTime_startDirectServoCartesian()
# time.sleep(3)
# try:
# for delta_act in actions_set:
# dpos, drot_xyz = delta_act[:3], delta_act[3:6] * np.array([1, 1, 1])
# drot = st.Rotation.from_euler("xyz", drot_xyz)
# init_eef_pos[:3] += dpos
# init_eef_pos[3:] = (
# drot * st.Rotation.from_euler("zyx", init_eef_pos[3:])
# ).as_euler("zyx")
# if last != delta_act[6]:
# if Open:
# Open = False
# gripper.close()
# else:
# Open = True
# gripper.open()
# _ = REMOTER.sendEEfPositionGetActualEEFpos(init_eef_pos)
# # _ = REMOTER.sendEEfPositionGetActualEEFpos(next_eef_pos[:6])
# time.sleep(1 / 10)
# last = delta_act[6]
# # while True:
# # ipt = int(input("input: "))
# # if ipt == 1:
# # REMOTER.realTime_stopDirectServoCartesian()
# # REMOTER.reset_initial_state()
# # init_eef_pos = REMOTER.getEEFPos()
# # REMOTER.realTime_startDirectServoCartesian()
# # else:
# # init_eef_pos[0] += ipt
# # _ = REMOTER.sendEEfPositionGetActualEEFpos(init_eef_pos)
# finally:
# REMOTER.realTime_stopDirectServoCartesian()
# REMOTER.reset_initial_state()
# REMOTER.close()
# sort algorithm