update aloha_mobile_object_to_cabinet

agilexrobotics · Nov 27, 2023 · a510e87 · a510e87
1 parent de6a72a
commit a510e87
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diff --git a/aloha_scripts/constants.py b/aloha_scripts/constants.py
@@ -31,7 +31,7 @@
     'aloha_mobile_object_to_cabinet':{
         'dataset_dir': DATA_DIR + '/aloha_mobile_object_to_cabinet',
         'num_episodes': 50,
-        'episode_len': 1700,
+        'episode_len': 1500,
         'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
     },
     'aloha_mobile_glass_to_cabinet':{

diff --git a/aloha_scripts/visualize_episodes.py b/aloha_scripts/visualize_episodes.py
@@ -62,6 +62,7 @@ def main(args):
         dataset_name = f'episode_{episode_idx}'
 
     qpos, qvel, effort, action, base_action, image_dict = load_hdf5(dataset_dir, dataset_name)
+    print('hdf5 loaded!!')
     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'))