使用原生的数据搜集代码
This commit is contained in:
166
collect_data/collect_data.py
Executable file
166
collect_data/collect_data.py
Executable file
@@ -0,0 +1,166 @@
|
||||
import os
|
||||
import time
|
||||
import argparse
|
||||
from aloha_mobile import AlohaRobotRos
|
||||
from utils import save_data, init_keyboard_listener
|
||||
|
||||
|
||||
def get_arguments():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset_dir.',
|
||||
default="./data", required=False)
|
||||
parser.add_argument('--task_name', action='store', type=str, help='Task name.',
|
||||
default="aloha_mobile_dummy", required=False)
|
||||
parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.',
|
||||
default=0, required=False)
|
||||
parser.add_argument('--max_timesteps', action='store', type=int, help='Max_timesteps.',
|
||||
default=500, required=False)
|
||||
parser.add_argument('--camera_names', action='store', type=str, help='camera_names',
|
||||
default=['cam_high', 'cam_left_wrist', 'cam_right_wrist'], required=False)
|
||||
parser.add_argument('--num_episodes', action='store', type=int, help='Num_episodes.',
|
||||
default=1, required=False)
|
||||
|
||||
|
||||
# topic name of color image
|
||||
parser.add_argument('--img_front_topic', action='store', type=str, help='img_front_topic',
|
||||
default='/camera_f/color/image_raw', required=False)
|
||||
parser.add_argument('--img_left_topic', action='store', type=str, help='img_left_topic',
|
||||
default='/camera_l/color/image_raw', required=False)
|
||||
parser.add_argument('--img_right_topic', action='store', type=str, help='img_right_topic',
|
||||
default='/camera_r/color/image_raw', required=False)
|
||||
|
||||
# topic name of depth image
|
||||
parser.add_argument('--img_front_depth_topic', action='store', type=str, help='img_front_depth_topic',
|
||||
default='/camera_f/depth/image_raw', required=False)
|
||||
parser.add_argument('--img_left_depth_topic', action='store', type=str, help='img_left_depth_topic',
|
||||
default='/camera_l/depth/image_raw', required=False)
|
||||
parser.add_argument('--img_right_depth_topic', action='store', type=str, help='img_right_depth_topic',
|
||||
default='/camera_r/depth/image_raw', required=False)
|
||||
|
||||
# topic name of arm
|
||||
parser.add_argument('--master_arm_left_topic', action='store', type=str, help='master_arm_left_topic',
|
||||
default='/master/joint_left', required=False)
|
||||
parser.add_argument('--master_arm_right_topic', action='store', type=str, help='master_arm_right_topic',
|
||||
default='/master/joint_right', required=False)
|
||||
parser.add_argument('--puppet_arm_left_topic', action='store', type=str, help='puppet_arm_left_topic',
|
||||
default='/puppet/joint_left', required=False)
|
||||
parser.add_argument('--puppet_arm_right_topic', action='store', type=str, help='puppet_arm_right_topic',
|
||||
default='/puppet/joint_right', required=False)
|
||||
|
||||
# topic name of robot_base
|
||||
parser.add_argument('--robot_base_topic', action='store', type=str, help='robot_base_topic',
|
||||
default='/odom', required=False)
|
||||
|
||||
parser.add_argument('--use_robot_base', action='store', type=bool, help='use_robot_base',
|
||||
default=False, required=False)
|
||||
|
||||
# collect depth image
|
||||
parser.add_argument('--use_depth_image', action='store', type=bool, help='use_depth_image',
|
||||
default=False, required=False)
|
||||
|
||||
parser.add_argument('--frame_rate', action='store', type=int, help='frame_rate',
|
||||
default=30, required=False)
|
||||
|
||||
args = parser.parse_args()
|
||||
return args
|
||||
|
||||
|
||||
def main():
|
||||
args = get_arguments()
|
||||
ros_operator = AlohaRobotRos(args)
|
||||
dataset_dir = os.path.join(args.dataset_dir, args.task_name)
|
||||
# 确保数据集目录存在
|
||||
os.makedirs(dataset_dir, exist_ok=True)
|
||||
# 单集收集模式
|
||||
if args.num_episodes == 1:
|
||||
print(f"Recording single episode {args.episode_idx}...")
|
||||
timesteps, actions = ros_operator.process()
|
||||
|
||||
if len(actions) < args.max_timesteps:
|
||||
print(f"\033[31m\nSave failure: Recorded only {len(actions)}/{args.max_timesteps} timesteps.\033[0m\n")
|
||||
return -1
|
||||
|
||||
dataset_path = os.path.join(dataset_dir, f"episode_{args.episode_idx}")
|
||||
save_data(args, timesteps, actions, dataset_path)
|
||||
print(f"\033[32mEpisode {args.episode_idx} saved successfully at {dataset_path}\033[0m")
|
||||
return 0
|
||||
# 多集收集模式
|
||||
print("""
|
||||
\033[1;36mKeyboard Controls:\033[0m
|
||||
← \033[1mLeft Arrow\033[0m: Start Recording
|
||||
→ \033[1mRight Arrow\033[0m: Save Current Data
|
||||
↓ \033[1mDown Arrow\033[0m: Discard Current Data
|
||||
↑ \033[1mUp Arrow\033[0m: Replay Data (if implemented)
|
||||
\033[1mESC\033[0m: Exit Program
|
||||
""")
|
||||
# 初始化键盘监听器
|
||||
listener, events = init_keyboard_listener()
|
||||
episode_idx = args.episode_idx
|
||||
collected_episodes = 0
|
||||
|
||||
try:
|
||||
while collected_episodes < args.num_episodes:
|
||||
if events["exit_early"]:
|
||||
print("\033[33mOperation terminated by user\033[0m")
|
||||
break
|
||||
|
||||
if events["record_start"]:
|
||||
# 重置事件状态，开始新的录制
|
||||
events["record_start"] = False
|
||||
events["save_data"] = False
|
||||
events["discard_data"] = False
|
||||
|
||||
print(f"\n\033[1;32mRecording episode {episode_idx}...\033[0m")
|
||||
timesteps, actions = ros_operator.process()
|
||||
print(f"\033[1;33mRecorded {len(actions)} timesteps. (→ to save, ↓ to discard)\033[0m")
|
||||
|
||||
# 等待用户决定保存或丢弃
|
||||
while True:
|
||||
if events["save_data"]:
|
||||
events["save_data"] = False
|
||||
|
||||
if len(actions) < args.max_timesteps:
|
||||
print(f"\033[31mSave failure: Recorded only {len(actions)}/{args.max_timesteps} timesteps.\033[0m")
|
||||
else:
|
||||
dataset_path = os.path.join(dataset_dir, f"episode_{episode_idx}")
|
||||
save_data(args, timesteps, actions, dataset_path)
|
||||
print(f"\033[32mEpisode {episode_idx} saved successfully at {dataset_path}\033[0m")
|
||||
episode_idx += 1
|
||||
collected_episodes += 1
|
||||
print(f"\033[1mProgress: {collected_episodes}/{args.num_episodes} episodes collected. (← to start new episode)\033[0m")
|
||||
break
|
||||
|
||||
if events["discard_data"]:
|
||||
events["discard_data"] = False
|
||||
print("\033[33mData discarded. Press ← to start a new recording.\033[0m")
|
||||
break
|
||||
|
||||
if events["exit_early"]:
|
||||
print("\033[33mOperation terminated by user\033[0m")
|
||||
return 0
|
||||
|
||||
time.sleep(0.1) # 减少CPU使用率
|
||||
|
||||
time.sleep(0.1) # 减少CPU使用率
|
||||
|
||||
if collected_episodes == args.num_episodes:
|
||||
print(f"\n\033[1;32mData collection complete! All {args.num_episodes} episodes collected.\033[0m")
|
||||
|
||||
finally:
|
||||
# 确保监听器被清理
|
||||
if listener:
|
||||
listener.stop()
|
||||
print("Keyboard listener stopped")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
exit_code = main()
|
||||
exit(exit_code if exit_code is not None else 0)
|
||||
except KeyboardInterrupt:
|
||||
print("\n\033[33mProgram interrupted by user\033[0m")
|
||||
exit(0)
|
||||
except Exception as e:
|
||||
print(f"\n\033[31mError: {e}\033[0m")
|
||||
|
||||
# python collect_data.py --dataset_dir ~/data --max_timesteps 500 --episode_idx 0
|
||||
Reference in New Issue
Block a user