| """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) | |