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debugging with open loop inference and replay

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This commit is contained in:
pi4
2025-01-03 04:41:43 -08:00
parent aa669f6cdc
commit d536f68daf
2 changed files with 28 additions and 11 deletions
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7
examples/ur_sim/saver.py
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@@ -24,7 +24,12 @@ class VideoSaver(_subscriber.Subscriber):
def on_step(self, observation: dict, action: dict) -> None:
img1 = observation["observation/base_0_camera/rgb/image"]
img2 = observation["observation/wrist_0_camera/rgb/image"]
big_img = np.concatenate([img1, img2], axis=1)
# img1 = observation["observation/base_0_camera/rgb/image"]
# img2 = observation["observation/wrist_0_camera/rgb/image"]
# img3 = observation["base"][0]
# img4 = observation["wrist"][0]
big_img = np.concatenate([img1, img2,], axis=1)
self._images.append(big_img)
# im = observation["image"][0] # [C, H, W]
# im = np.transpose(im, (1, 2, 0)) # [H, W, C]