| """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)) |
|
|
