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WIP Upgrading simxam from mujoco-py to mujoco python bindings

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This commit is contained in:
Simon Alibert
2024-03-24 17:36:22 +01:00
parent e41c420a96
commit 1c24bbda3f
55 changed files with 1253 additions and 105 deletions
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10
lerobot/common/datasets/simxarm.py
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@@ -67,11 +67,11 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
)
def _download_and_preproc_obsolete(self):
assert self.root is not None
# assert self.root is not None
# TODO(rcadene): finish download
download()
# download()
dataset_path = self.root / f"{self.dataset_id}_raw" / "buffer.pkl"
dataset_path = self.root / f"{self.dataset_id}" / "buffer.pkl"
print(f"Using offline dataset '{dataset_path}'")
with open(dataset_path, "rb") as f:
dataset_dict = pickle.load(f)
@@ -105,8 +105,8 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
"frame_id": torch.arange(0, num_frames, 1),
("next", "observation", "image"): next_image,
("next", "observation", "state"): next_state,
("next", "observation", "reward"): next_reward,
("next", "observation", "done"): next_done,
("next", "reward"): next_reward,
("next", "done"): next_done,
},
batch_size=num_frames,
)