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