File size: 4,149 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Script to visualize navigation datasets.
Loads a navigation dataset and generates plots showing paths, poses and obstacles.
Args:
dataset: Path to the HDF5 dataset file containing recorded demonstrations.
output_dir: Directory path where visualization plots will be saved.
figure_size: Size of the generated figures (width, height).
demo_filter: If provided, only visualize specific demo(s). Can be a single demo name or comma-separated list.
"""
import argparse
import os
import h5py
import matplotlib.pyplot as plt
def main():
"""Main function to process dataset and generate visualizations."""
# add argparse arguments
parser = argparse.ArgumentParser(
description="Visualize navigation dataset from locomanipulation sdg demonstrations."
)
parser.add_argument(
"--input_file", type=str, help="Path to the HDF5 dataset file containing recorded demonstrations."
)
parser.add_argument("--output_dir", type=str, help="Directory path where visualization plots will be saved.")
parser.add_argument(
"--figure_size",
type=int,
nargs=2,
default=[20, 20],
help="Size of the generated figures (width, height). Default: [20, 20]",
)
parser.add_argument(
"--demo_filter",
type=str,
default=None,
help="If provided, only visualize specific demo(s). Can be a single demo name or comma-separated list.",
)
# parse the arguments
args = parser.parse_args()
# Validate inputs
if not os.path.exists(args.input_file):
raise FileNotFoundError(f"Dataset file not found: {args.input_file}")
# Create output directory if it doesn't exist
os.makedirs(args.output_dir, exist_ok=True)
# Load dataset
dataset = h5py.File(args.input_file, "r")
demos = list(dataset["data"].keys())
# Filter demos if specified
if args.demo_filter:
filter_demos = [d.strip() for d in args.demo_filter.split(",")]
demos = [d for d in demos if d in filter_demos]
if not demos:
print(f"Warning: No demos found matching filter '{args.demo_filter}'")
return
print(f"Visualizing {len(demos)} demonstrations...")
for i, demo in enumerate(demos):
print(f"Processing demo {i + 1}/{len(demos)}: {demo}")
replay_data = dataset["data"][demo]["locomanipulation_sdg_output_data"]
path = replay_data["base_path"]
base_pose = replay_data["base_pose"]
object_pose = replay_data["object_pose"]
start_pose = replay_data["start_fixture_pose"]
end_pose = replay_data["end_fixture_pose"]
obstacle_poses = replay_data["obstacle_fixture_poses"]
plt.figure(figsize=args.figure_size)
plt.plot(path[0, :, 0], path[0, :, 1], "r-", label="Target Path", linewidth=2)
plt.plot(base_pose[:, 0], base_pose[:, 1], "g--", label="Base Pose", linewidth=2)
plt.plot(object_pose[:, 0], object_pose[:, 1], "b--", label="Object Pose", linewidth=2)
plt.plot(obstacle_poses[0, :, 0], obstacle_poses[0, :, 1], "ro", label="Obstacles", markersize=8)
# Add start and end markers
plt.plot(start_pose[0, 0], start_pose[0, 1], "gs", label="Start", markersize=12)
plt.plot(end_pose[0, 0], end_pose[0, 1], "rs", label="End", markersize=12)
plt.legend(loc="upper right", ncol=1, fontsize=12)
plt.axis("equal")
plt.grid(True, alpha=0.3)
plt.title(f"Navigation Visualization - {demo}", fontsize=16)
plt.xlabel("X Position (m)", fontsize=14)
plt.ylabel("Y Position (m)", fontsize=14)
output_path = os.path.join(args.output_dir, f"{demo}.png")
plt.savefig(output_path, dpi=150, bbox_inches="tight")
plt.close() # Close the figure to free memory
dataset.close()
print(f"Visualization complete! Plots saved to: {args.output_dir}")
if __name__ == "__main__":
main()
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