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import datetime
import io
import pathlib
import uuid
import numpy as np
import h5py
import argparse
def save_episode(directory, episode):
timestamp = datetime.datetime.now().strftime('%Y%m%dT%H%M%S')
identifier = str(uuid.uuid4().hex)
length = len(episode['action'])
filename = directory / f'{timestamp}-{identifier}-{length}.npz'
with io.BytesIO() as f1:
np.savez_compressed(f1, **episode)
f1.seek(0)
with filename.open('wb') as f2:
f2.write(f1.read())
return filename
def main():
# Include argument parser
parser = argparse.ArgumentParser(description='Convert hdf5 files to npz.')
parser.add_argument('--input_dir', type=str, required=True,
help='Path to input files')
parser.add_argument('--output_dir', type=str, required=True,
help='Path to output files')
args = parser.parse_args()
is_last = np.zeros(501, dtype=bool)
is_last[500] = True
is_first = np.zeros(501, dtype=bool)
is_first[0] = True
is_terminal = np.zeros(501, dtype=bool)
out_dir = pathlib.Path(args.output_dir)
out_dir.mkdir(parents=True, exist_ok=True)
filenames = sorted(pathlib.Path(args.input_dir).glob('*.hdf5'))
for filename in filenames:
with h5py.File(filename, "r") as f:
actions = f['action'][:]
observations = f['observation'][:]
rewards = f['reward'][:]
discounts = f['discount'][:]
while len(actions) > 0:
ep = {
'image': observations[:501].transpose(0, 2, 3, 1),
'action': actions[:501],
'reward': rewards[:501],
'discount': discounts[:501],
'is_last': is_last,
'is_first': is_first,
'is_terminal': is_terminal,
}
actions = actions[501:]
observations = observations[501:]
rewards = rewards[501:]
discounts = discounts[501:]
save_episode(out_dir, ep)
if __name__ == '__main__':
main()
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