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912c7e2 | 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 | import hydra
from omegaconf import OmegaConf
from pfp import DATA_DIRS, set_seeds
from pfp.data.dataset_pcd import RobotDatasetPcd
from pfp.data.dataset_images import RobotDatasetImages
import rerun as rr
from pfp.common.visualization import RerunViewer as RV
from pfp.common.visualization import RerunTraj
TASK_NAME = "sponge_on_plate"
MODE = "valid" # "train" or "valid"
@hydra.main(version_base=None, config_path="../conf", config_name="train")
def main(cfg: OmegaConf):
if not OmegaConf.has_resolver("eval"):
OmegaConf.register_new_resolver("eval", eval)
OmegaConf.resolve(cfg)
print(OmegaConf.to_yaml(cfg))
set_seeds(cfg.seed)
data_path_train = DATA_DIRS.PFP_REAL / TASK_NAME / MODE
# data_path_valid = DATA_DIRS.PFP_REAL / TASK_NAME / MODE
if cfg.obs_mode == "pcd":
dataset_train = RobotDatasetPcd(data_path_train, **cfg.dataset)
# dataset_valid = RobotDatasetPcd(data_path_valid, **cfg.dataset)
elif cfg.obs_mode == "rgb":
dataset_train = RobotDatasetImages(data_path_train, **cfg.dataset)
# dataset_valid = RobotDatasetImages(data_path_valid, **cfg.dataset)
else:
raise ValueError(f"Unknown observation mode: {cfg.obs_mode}")
# Visualize the dataset
RV("Dataset visualization")
obs_traj = RerunTraj()
pred_traj = RerunTraj()
for i in range(len(dataset_train)):
# pcd: (2, 4096, 3)
# robot_state_obs: (2, 10)
# robot_state_pred: (32, 10)
pcd, robot_state_obs, robot_state_pred = dataset_train[i]
rr.set_time_sequence("timestep", i)
RV.add_np_pointcloud("vis/pointcloud", pcd[-1])
obs_traj.add_traj("vis/robot_state_obs", robot_state_obs, size=0.008)
pred_traj.add_traj("vis/robot_state_pred", robot_state_pred, size=0.004)
rr.log("plot/gripper_pred", rr.Scalar(robot_state_pred[0, -1]))
if __name__ == "__main__":
main()
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