File size: 8,238 Bytes
cbf1741 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 | from pathlib import Path
import argparse
import json
import os
import shutil
import subprocess
import sys
import time
from typing import Dict, List, Optional, Sequence
PROJECT_ROOT = Path(__file__).resolve().parents[1]
if str(PROJECT_ROOT) not in sys.path:
sys.path.insert(0, str(PROJECT_ROOT))
def _configure_thread_env() -> None:
defaults = {
"OMP_NUM_THREADS": "1",
"OPENBLAS_NUM_THREADS": "1",
"MKL_NUM_THREADS": "1",
"NUMEXPR_NUM_THREADS": "1",
"VECLIB_MAXIMUM_THREADS": "1",
"BLIS_NUM_THREADS": "1",
"MALLOC_ARENA_MAX": "2",
}
for key, value in defaults.items():
os.environ.setdefault(key, value)
def _configure_coppeliasim_env() -> None:
coppeliasim_root = os.environ.setdefault("COPPELIASIM_ROOT", "/workspace/coppelia_sim")
ld_library_path_parts = [
part for part in os.environ.get("LD_LIBRARY_PATH", "").split(":") if part
]
if coppeliasim_root not in ld_library_path_parts:
ld_library_path_parts.insert(0, coppeliasim_root)
os.environ["LD_LIBRARY_PATH"] = ":".join(ld_library_path_parts)
_configure_thread_env()
_configure_coppeliasim_env()
from rr_label_study.oven_study import _episode_dirs
def _select_episode_indices(
total_episodes: int,
episode_offset: int,
max_episodes: Optional[int],
episode_indices: Optional[Sequence[int]],
) -> List[int]:
if episode_indices is not None:
selected: List[int] = []
seen = set()
for raw_index in episode_indices:
episode_index = int(raw_index)
if not (0 <= episode_index < total_episodes):
raise ValueError(
f"episode index {episode_index} outside available range 0..{total_episodes - 1}"
)
if episode_index in seen:
continue
selected.append(episode_index)
seen.add(episode_index)
return selected
remaining = max(0, total_episodes - episode_offset)
if max_episodes is not None:
remaining = min(remaining, max_episodes)
if remaining <= 0:
return []
return list(range(episode_offset, episode_offset + remaining))
def _has_gif_suite(episode_output_dir: Path, episode_name: str) -> bool:
visualizations_dir = episode_output_dir.joinpath("visualizations")
required = [
visualizations_dir.joinpath(f"{episode_name}_all_metrics.gif"),
visualizations_dir.joinpath(f"{episode_name}_visibility_focus.gif"),
visualizations_dir.joinpath(f"{episode_name}_path_quality_focus.gif"),
visualizations_dir.joinpath("README.md"),
]
return all(path.exists() for path in required)
def _write_json(path: Path, payload: Dict[str, object]) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
with path.open("w", encoding="utf-8") as handle:
json.dump(payload, handle, indent=2)
def main() -> int:
parser = argparse.ArgumentParser()
parser.add_argument(
"--dataset-root",
default="/workspace/data/bimanual_take_tray_out_of_oven_train_128",
)
parser.add_argument("--result-dir", required=True)
parser.add_argument("--episode-offset", type=int, default=0)
parser.add_argument("--max-episodes", type=int, default=100)
parser.add_argument("--episode-indices")
parser.add_argument("--checkpoint-stride", type=int, default=16)
parser.add_argument("--num-workers", type=int, default=6)
parser.add_argument("--base-display", type=int, default=1200)
args = parser.parse_args()
dataset_root = Path(args.dataset_root)
result_dir = Path(args.result_dir)
logs_dir = result_dir.joinpath("render_logs")
logs_dir.mkdir(parents=True, exist_ok=True)
progress_path = result_dir.joinpath("render_progress.json")
all_episode_dirs = _episode_dirs(dataset_root)
explicit_episode_indices = None
if args.episode_indices:
explicit_episode_indices = [
int(chunk.strip()) for chunk in args.episode_indices.split(",") if chunk.strip()
]
selected_episode_indices = _select_episode_indices(
total_episodes=len(all_episode_dirs),
episode_offset=args.episode_offset,
max_episodes=args.max_episodes,
episode_indices=explicit_episode_indices,
)
completed: List[int] = []
for episode_index in selected_episode_indices:
episode_name = f"episode{episode_index}"
episode_output_dir = result_dir.joinpath(episode_name)
if not episode_output_dir.exists():
raise FileNotFoundError(f"missing episode output dir: {episode_output_dir}")
if _has_gif_suite(episode_output_dir, episode_name):
completed.append(episode_index)
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
continue
temp_output_dir = episode_output_dir.joinpath("visualizations_tmp")
if temp_output_dir.exists():
shutil.rmtree(temp_output_dir)
log_path = logs_dir.joinpath(f"{episode_name}.log")
env = os.environ.copy()
env["OMP_NUM_THREADS"] = "1"
env["OPENBLAS_NUM_THREADS"] = "1"
env["MKL_NUM_THREADS"] = "1"
env["NUMEXPR_NUM_THREADS"] = "1"
env["VECLIB_MAXIMUM_THREADS"] = "1"
env["BLIS_NUM_THREADS"] = "1"
env["MALLOC_ARENA_MAX"] = "2"
env["PYTHONUNBUFFERED"] = "1"
_write_json(
progress_path,
{
"current_episode": episode_name,
"completed_episode_indices": completed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
with log_path.open("w", encoding="utf-8") as log_handle:
process = subprocess.Popen(
[
sys.executable,
str(PROJECT_ROOT.joinpath("scripts", "render_oven_metric_gifs.py")),
"--episode-dir",
str(all_episode_dirs[episode_index]),
"--dense-csv",
str(episode_output_dir.joinpath(f"{episode_name}.dense.csv")),
"--templates-pkl",
str(episode_output_dir.joinpath("templates.pkl")),
"--output-dir",
str(temp_output_dir),
"--debug-jsonl",
str(episode_output_dir.joinpath(f"{episode_name}.debug.jsonl")),
"--checkpoint-stride",
str(args.checkpoint_stride),
"--num-workers",
str(args.num_workers),
"--base-display",
str(args.base_display),
],
stdout=log_handle,
stderr=subprocess.STDOUT,
cwd=str(PROJECT_ROOT),
env=env,
)
return_code = process.wait()
if return_code != 0:
raise RuntimeError(f"gif render failed for {episode_name}; see {log_path}")
final_visualizations_dir = episode_output_dir.joinpath("visualizations")
if final_visualizations_dir.exists():
shutil.rmtree(final_visualizations_dir)
temp_output_dir.rename(final_visualizations_dir)
completed.append(episode_index)
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"total_selected": len(selected_episode_indices),
"finished_at_epoch": time.time(),
},
)
return 0
if __name__ == "__main__":
raise SystemExit(main())
|