| import h5py
|
| import numpy as np
|
| import cv2
|
|
|
|
|
| show_canvas = np.zeros((480, 640*3, 3), dtype=np.uint8)
|
| with h5py.File("./datasets/clean_1234/train_data/episode_init_0.hdf5", 'r',
|
| rdcc_nbytes=1024 ** 2 * 2) as root:
|
| for i in range(len(root["/observations/images/top"])):
|
| qpos = root["/observations/qpos"][i]
|
| print("step", i)
|
|
|
| print("observation: left hand [J1, J2, J3, J4, J5, J6, gripper_width]:", [i for i in qpos[:7]])
|
| print("observation: right hand [J1, J2, J3, J4, J5, J6, gripper_width]:", [i for i in qpos[7:14]])
|
| show_canvas[:, :640] = np.asarray(
|
| cv2.imdecode(np.asarray(root["/observations/images/top"][i], dtype="uint8"), cv2.IMREAD_COLOR),
|
| dtype="uint8")
|
| show_canvas[:, 640:640 * 2] = np.asarray(
|
| cv2.imdecode(np.asarray(root["/observations/images/left_wrist"][i], dtype="uint8"), cv2.IMREAD_COLOR),
|
| dtype="uint8")
|
| show_canvas[:, 640 * 2:640 * 3] = np.asarray(
|
| cv2.imdecode(np.asarray(root["/observations/images/right_wrist"][i], dtype="uint8"), cv2.IMREAD_COLOR),
|
| dtype="uint8")
|
| cv2.imshow("0", show_canvas)
|
|
|
|
|
| action = root["action"][i]
|
| print("predict action: left hand [J1, J2, J3, J4, J5, J6, gripper_width]:", [i for i in action[:7]])
|
| print("predict action: right hand [J1, J2, J3, J4, J5, J6, gripper_width]:", [i for i in action[7:14]])
|
| print()
|
|
|
|
|
| cv2.waitKey(0) |
