| 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(): |
| |
| 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() |
|
|
