41 lines
1.2 KiB
Python
Executable File
41 lines
1.2 KiB
Python
Executable File
import logging
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import pathlib
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import imageio
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import numpy as np
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from openpi_client.runtime import subscriber as _subscriber
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from typing_extensions import override
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class VideoSaver(_subscriber.Subscriber):
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"""Saves episode data."""
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def __init__(self, out_dir: pathlib.Path, subsample: int = 1) -> None:
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out_dir.mkdir(parents=True, exist_ok=True)
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self._out_dir = out_dir
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self._images: list[np.ndarray] = []
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self._subsample = subsample
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@override
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def on_episode_start(self) -> None:
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self._images = []
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@override
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def on_step(self, observation: dict, action: dict) -> None:
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im = observation["images"]["cam_high"] # [C, H, W]
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im = np.transpose(im, (1, 2, 0)) # [H, W, C]
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self._images.append(im)
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@override
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def on_episode_end(self) -> None:
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existing = list(self._out_dir.glob("out_[0-9]*.mp4"))
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next_idx = max([int(p.stem.split("_")[1]) for p in existing], default=-1) + 1
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out_path = self._out_dir / f"out_{next_idx}.mp4"
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logging.info(f"Saving video to {out_path}")
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imageio.mimwrite(
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out_path,
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[np.asarray(x) for x in self._images[:: self._subsample]],
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fps=50 // max(1, self._subsample),
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)
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