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406a3ed | 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 | """Example: python example.py /path/to/download --method hybrid --task fold_clothes."""
import argparse
try:
from .reader import Dataset
except ImportError:
from reader import Dataset
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('directory')
parser.add_argument('--method', choices=['hybrid', 'direct'], default='hybrid')
parser.add_argument('--task', default='fold_clothes')
args = parser.parse_args()
dataset = Dataset(args.directory)
record = dataset.select(method=args.method, task=args.task)[0]
with dataset.open(record['episode_id'], verify=True) as episode:
print('Case:', episode.metadata['case'])
print('Outcome:', episode.metadata['outcome'])
for decision in episode.decisions[:3]:
obs = decision.observation(images='preview')
print('Decision', decision.index, 'before-step', decision.record['start_tick'],
'mode', decision.record['source_detail'], 'executed', decision.executed_actions.shape,
'head preview', obs['cam_high'].shape)
proposal = decision.pi05_proposal
if proposal is not None:
print('pi05 candidate:', proposal['actions'].shape)
print('Reason:', decision.requested_response.get('reason'))
print('Corrective step targets:', len(decision.eef_targets))
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