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"""A script to check if any demonstration dataset does not have the exact number of demonstration trajectories"""
from pathlib import Path
import h5py
import numpy as np
from libero.libero import get_libero_path
error_datasets = []
for demo_file_name in Path(get_libero_path("datasets")).rglob("*hdf5"):
demo_file = h5py.File(demo_file_name)
count = 0
for key in demo_file["data"].keys():
if "demo" in key:
count += 1
if count == 50:
traj_lengths = []
action_min = np.inf
action_max = -np.inf
for demo_name in demo_file["data"].keys():
traj_lengths.append(demo_file["data/{}/actions".format(demo_name)].shape[0])
traj_lengths = np.array(traj_lengths)
print(f"[info] dataset {demo_file_name} is in tact, test passed \u2714")
print(np.mean(traj_lengths), " +- ", np.std(traj_lengths))
if demo_file["data"].attrs["tag"] == "libero-v1":
print("Version correct")
print("=========================================")
else:
print("[error] !!!")
error_datasets.append(demo_file_name)
if len(error_datasets) > 0:
print("[error] The following datasets are corrupted:")
for dataset in error_datasets:
print(dataset)
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