Merge branch 'main' of github.com:MarkFzp/mobile-aloha into main

aloha_scripts/constants.py

@@ -21,6 +21,12 @@
         'episode_len': 500,
         'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
     },
+    'aloha_mobile_grasp_pen_all':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_grasp_pen_all',
+        'num_episodes': 100,
+        'episode_len': 500,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
     'aloha_mobile_object_to_cabinet':{
         'dataset_dir': DATA_DIR + '/aloha_mobile_object_to_cabinet',
         'num_episodes': 50,

aloha_scripts/record_episodes.py

@@ -122,6 +122,7 @@ def capture_one_episode(dt, max_timesteps, camera_names, dataset_dir, dataset_na
     - qvel                  (14,)         'float64'
     
     action                  (14,)         'float64'
+    base_action             (2,)          'float64'
     """
 
     data_dict = {

aloha_scripts/visualize_episodes.py

@@ -12,6 +12,7 @@
 
 JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
 STATE_NAMES = JOINT_NAMES + ["gripper"]
+BASE_STATE_NAMES = ["linear_vel", "angular_vel"]
 
 def load_hdf5(dataset_dir, dataset_name):
     dataset_path = os.path.join(dataset_dir, dataset_name + '.hdf5')
@@ -23,24 +24,33 @@ def load_hdf5(dataset_dir, dataset_name):
         is_sim = root.attrs['sim']
         qpos = root['/observations/qpos'][()]
         qvel = root['/observations/qvel'][()]
-        effort = root['/observations/effort'][()]
+        if 'effort' in root.keys():
+            effort = root['/observations/effort'][()]
+        else:
+            effort = None
         action = root['/action'][()]
+        base_action = root['/base_action'][()]
         image_dict = dict()
         for cam_name in root[f'/observations/images/'].keys():
             image_dict[cam_name] = root[f'/observations/images/{cam_name}'][()]
 
-    return qpos, qvel, effort, action, image_dict
+    return qpos, qvel, effort, action, base_action, image_dict
 
 def main(args):
     dataset_dir = args['dataset_dir']
     episode_idx = args['episode_idx']
-    dataset_name = f'episode_{episode_idx}'
+    ismirror = args['ismirror']
+    if ismirror:
+        dataset_name = f'mirror_episode_{episode_idx}'
+    else:
+        dataset_name = f'episode_{episode_idx}'
 
-    qpos, qvel, effort, action, image_dict = load_hdf5(dataset_dir, dataset_name)
+    qpos, qvel, effort, action, base_action, image_dict = load_hdf5(dataset_dir, dataset_name)
     save_videos(image_dict, DT, video_path=os.path.join(dataset_dir, dataset_name + '_video.mp4'))
     visualize_joints(qpos, action, plot_path=os.path.join(dataset_dir, dataset_name + '_qpos.png'))
-    visualize_single(effort, 'effort', plot_path=os.path.join(dataset_dir, dataset_name + '_effort.png'))
-    visualize_single(action - qpos, 'tracking_error', plot_path=os.path.join(dataset_dir, dataset_name + '_error.png'))
+    # visualize_single(effort, 'effort', plot_path=os.path.join(dataset_dir, dataset_name + '_effort.png'))
+    # visualize_single(action - qpos, 'tracking_error', plot_path=os.path.join(dataset_dir, dataset_name + '_error.png'))
+    visualize_base(base_action, plot_path=os.path.join(dataset_dir, dataset_name + '_base_action.png'))
     # visualize_timestamp(t_list, dataset_path) # TODO addn timestamp back
 
 
@@ -90,7 +100,7 @@ def visualize_joints(qpos_list, command_list, plot_path=None, ylim=None, label_o
     num_ts, num_dim = qpos.shape
     h, w = 2, num_dim
     num_figs = num_dim
-    fig, axs = plt.subplots(num_figs, 1, figsize=(w, h * num_figs))
+    fig, axs = plt.subplots(num_figs, 1, figsize=(8, 2 * num_dim))
 
     # plot joint state
     all_names = [name + '_left' for name in STATE_NAMES] + [name + '_right' for name in STATE_NAMES]
@@ -141,6 +151,33 @@ def visualize_single(efforts_list, label, plot_path=None, ylim=None, label_overw
     print(f'Saved effort plot to: {plot_path}')
     plt.close()
 
+def visualize_base(readings, plot_path=None):
+    readings = np.array(readings) # ts, dim
+    num_ts, num_dim = readings.shape
+    num_figs = num_dim
+    fig, axs = plt.subplots(num_figs, 1, figsize=(8, 2 * num_dim))
+
+    # plot joint state
+    all_names = BASE_STATE_NAMES
+    for dim_idx in range(num_dim):
+        ax = axs[dim_idx]
+        ax.plot(readings[:, dim_idx], label='raw')
+        ax.plot(np.convolve(readings[:, dim_idx], np.ones(20)/20, mode='same'), label='smoothed_20')
+        ax.plot(np.convolve(readings[:, dim_idx], np.ones(10)/10, mode='same'), label='smoothed_10')
+        ax.plot(np.convolve(readings[:, dim_idx], np.ones(5)/5, mode='same'), label='smoothed_5')
+        ax.set_title(f'Joint {dim_idx}: {all_names[dim_idx]}')
+        ax.legend()
+
+    # if ylim:
+    #     for dim_idx in range(num_dim):
+    #         ax = axs[dim_idx]
+    #         ax.set_ylim(ylim)
+
+    plt.tight_layout()
+    plt.savefig(plot_path)
+    print(f'Saved effort plot to: {plot_path}')
+    plt.close()
+
 
 def visualize_timestamp(t_list, dataset_path):
     plot_path = dataset_path.replace('.pkl', '_timestamp.png')
@@ -173,4 +210,5 @@ def visualize_timestamp(t_list, dataset_path):
     parser = argparse.ArgumentParser()
     parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset dir.', required=True)
     parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', required=False)
+    parser.add_argument('--ismirror', action='store_true')
     main(vars(parser.parse_args()))