Add logging for h5 #119
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Add logging for h5 #119
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Important notes about this PR in this issue (addresses MVP 1 ) |
budzianowski
reviewed
Dec 2, 2024
sim/play.py
Outdated
| velocity=env.dof_vel[robot_index, i].item(), | ||
| torque=env.torques[robot_index, i].item(), | ||
| ) | ||
| command = krec.ActuatorCommand( |
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If you want to have 1to1 mapping the command information is missing here which is fundamental.
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this means the 2D and 3D velocity command to the robot, right? yeah I dont think krec has that so it will be a design choice how we wanna save it.
budzianowski
reviewed
Dec 2, 2024
sim/play.py
Outdated
| path = ppo_runner.alg.actor_critic | ||
| convert_model_to_onnx(path, ActorCfg(), save_path="policy.onnx") | ||
| print("Exported policy as onnx to: ", path) | ||
| # # export policy as a onnx module (used to run it on web) |
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I think its outdated / something that was changed/handled in kinfer, when I run it I get this. Maybe wesley knows more, but low priority for now imo.
loaded_dict = torch.load(path)
Exported policy as jit script to: .
Traceback (most recent call last):
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/serialization.py", line 564, in _check_seekable
f.seek(f.tell())
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1729, in __getattr__
raise AttributeError(f"'{type(self).__name__}' object has no attribute '{name}'")
AttributeError: 'ActorCritic' object has no attribute 'seek'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "sim/play.py", line 332, in <module>
play(args)
File "sim/play.py", line 94, in play
convert_model_to_onnx(path, ActorCfg(), save_path="policy.onnx")
File "/home/kasm-user/ali_repos/sim/sim/model_export.py", line 220, in convert_model_to_onnx
all_weights = torch.load(model_path, map_location="cpu", weights_only=True)
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/serialization.py", line 1065, in load
with _open_file_like(f, 'rb') as opened_file:
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/serialization.py", line 473, in _open_file_like
return _open_buffer_reader(name_or_buffer)
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/serialization.py", line 458, in __init__
_check_seekable(buffer)
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/serialization.py", line 567, in _check_seekable
raise_err_msg(["seek", "tell"], e)
File "/opt/anaconda3/envs/ksl/lib/python3.8/site-packages/torch/serialization.py", line 560, in raise_err_msg
raise type(e)(msg)
AttributeError: 'ActorCritic' object has no attribute 'seek'. You can only torch.load from a file that is seekable. Please pre-load the data into a buffer like io.BytesIO and try to load from it instead.
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| if args.render: | ||
| video.release() | ||
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| if args.log_h5: | ||
| print("Saving data to " + os.path.abspath(f"data{now}.h5")) | ||
| h5_file.close() | ||
| # print(f"Saving HDF5 file to {h5_logger.h5_file_path}") # TODO use code from kdatagen |
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proper todo - remove print ?
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yes proper TODO, will remove as soon as its done.
alik-git
changed the title
budzianowski
reviewed
Dec 2, 2024
sim/play.py
Outdated
| path = ppo_runner.alg.actor_critic | ||
| convert_model_to_onnx(path, ActorCfg(), save_path="policy.onnx") | ||
| print("Exported policy as onnx to: ", path) | ||
| # # export policy as a onnx module (used to run it on web) |
sim/play.py
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|
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| h5_loggers[env_idx].log_data({ | ||
| "t": np.array([t * env.dt], dtype=np.float32), | ||
| "2D_command": np.array(cur_obs[command_2d_start:command_2d_end], dtype=np.float32), |
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Can you check if current and below are the same values?
"t": np.array([count_lowlevel * cfg.dt], dtype=np.float32),
"2D_command": np.array(
[
np.sin(2 * math.pi * count_lowlevel * cfg.dt / cfg.cycle_time),
np.cos(2 * math.pi * count_lowlevel * cfg.dt / cfg.cycle_time),
],
dtype=np.float32,
),
"3D_command": np.array([x_vel_cmd, y_vel_cmd, yaw_vel_cmd], dtype=np.float32),
```
budzianowski
changed the title
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addressed TODO 1 in the issue comment here https://github.com/kscalelabs/kmodel/issues/27#issuecomment-2513414582 |
budzianowski
approved these changes
Dec 3, 2024
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play.py already had h5 saving, now this PR adds krec saving as well.
TODO: consolidate the saving logic into a utils file and move it to kdatagen. Right now the code exists (and has to maintained) in two places, one for mujoco and one for isaacsim.