BUGFIX+TESTS: fixed env unwrapped bug. Paths were using wrapped envs.…

… By default path_utils uses unwrapped envs now

robohive/tests/test_examine_env.py

@@ -3,9 +3,39 @@
 import unittest
 from robohive.utils.examine_env import main as examine_env
 import os
+import glob
+import time
 
 
 class TestExamineEnv(unittest.TestCase):
+
+ def delete_recent_file(self, filename_pattern, directory='.', age=5):
+
+ # Get the current time
+ current_time = time.time()
+
+ # Use glob to find files matching the pattern in the specified directory
+ matching_files = glob.glob(os.path.join(directory, filename_pattern))
+
+ # Iterate over the matching files
+ for file_path in matching_files:
+ try:
+ # Get the creation time of the file
+ creation_time = os.path.getctime(file_path)
+
+ # Calculate the time difference between current time and creation time
+ time_difference = current_time - creation_time
+
+ # If the file was created within the last 5 seconds, delete it
+ if time_difference <= 5:
+ os.remove(file_path)
+ print(f"Deleted file created within {age} seconds: {file_path}")
+ else:
+ print(f"File not deleted: {file_path}, created {time_difference} seconds ago.")
+ except Exception as e:
+ print(f"Error deleting file: {file_path} - {e}")
+
+
  def test_main(self):
  # Call your function and test its output/assertions
  print("Testing env with random policy")
@@ -32,7 +62,22 @@ def test_offscreen_rendering(self):
  print("EXCEPTION", result.exception, flush=True)
  # print(result.output.strip())
  self.assertEqual(result.exception, None, result.exception)
- os.remove('random_policy0.mp4')
+ self.delete_recent_file(filename_pattern="random_policy*.mp4")
+
+ def test_paths_plotting(self):
+ # Call your function and test its output/assertions
+ print("Testing plotting paths")
+ runner = click.testing.CliRunner()
+ result = runner.invoke(examine_env, ["--env_name", "door-v1", \
+ "--num_episodes", 1, \
+ "--render", "none",\
+ "--plot_paths", True])
+ print("OUTPUT", result.output.strip(), flush=True)
+ print("RESULT", result, flush=True)
+ print("EXCEPTION", result.exception, flush=True)
+ # print(result.output.strip())
+ self.assertEqual(result.exception, None, result.exception)
+ self.delete_recent_file(filename_pattern="random_policy*Trial*.pdf")
 
  def no_test_scripted_policy_loading(self):
  # Call your function and test its output/assertions

robohive/utils/paths_utils.py

@@ -16,9 +16,20 @@
 from robohive.utils.dict_utils import flatten_dict, dict_numpify
 import json
 
+#TODO: Harmonize names, remove rollout_paths, use path for one and paths for multiple
 
-# Useful to check the horizon for teleOp / Hardware experiments
+# Check the horizon for teleOp / Hardware experiments
 def plot_horizon(paths, env, fileName_prefix=None):
+ """
+ Check the horizon for teleOp / Hardware experiments
+
+ Args:
+ paths: paths to examine
+ env: unwrapped env
+ fileName_prefix (str): prefix to use in the filename
+ Saves:
+ fileName_prefix + '_horizon.pdf'
+ """
  import matplotlib as mpl
  mpl.use('TkAgg')
  import matplotlib.pyplot as plt
@@ -30,7 +41,7 @@ def plot_horizon(paths, env, fileName_prefix=None):
  # plot timesteps
  plt.clf()
 
- rl_dt_ideal = env.env.frame_skip * env.env.model.opt.timestep
+ rl_dt_ideal = env.frame_skip * env.model.opt.timestep
  for i, path in enumerate(paths):
  dt = path['env_infos']['time'][1:] - path['env_infos']['time'][:-1]
  horizon[i] = path['env_infos']['time'][-1] - path['env_infos'][
@@ -75,8 +86,19 @@ def plot_horizon(paths, env, fileName_prefix=None):
  print("Saved:", file_name)
 
 
-# Plot paths to a pdf file
+# 2D-plot of paths detailing obs, act, rwds across time
 def plot(paths, env=None, fileName_prefix=''):
+ """
+ 2D-plot of paths detailing obs, act, rwds across time
+
+ Args:
+ paths: paths to examine
+ env: unwrapped env
+ fileName_prefix: prefix to use in the filename
+
+ Saves:
+ fileName_prefix + path_name + '.pdf'
+ """
  import matplotlib as mpl
  mpl.use('Agg')
  import matplotlib.pyplot as plt
@@ -108,7 +130,7 @@ def plot(paths, env=None, fileName_prefix=''):
  nplt2 = 3
  ax = plt.subplot(nplt2, 2, 2)
  ax.set_prop_cycle(None)
- # h4 = plt.plot(path['env_infos']['time'], env.env.act_mid + path['actions']*env.env.act_rng, '-', label='act') # plot scaled actions
+ # h4 = plt.plot(path['env_infos']['time'], env.act_mid + path['actions']*env.act_rng, '-', label='act') # plot scaled actions
  h4 = plt.plot(
  path['env_infos']['time'], path['actions'], '-',
  label='act') # plot normalized actions
@@ -143,13 +165,14 @@ def plot(paths, env=None, fileName_prefix=''):
  ax.axes.xaxis.set_ticklabels([])
  plt.ylabel('rewards')
  ax.yaxis.tick_right()
- if env and hasattr(env.env, "rwd_keys_wt"):
+
+ if env and hasattr(env, "rwd_keys_wt"):
  ax = plt.subplot(nplt2, 2, 6)
  ax.set_prop_cycle(None)
- for key in sorted(env.env.rwd_keys_wt.keys()):
+ for key in sorted(env.rwd_keys_wt.keys()):
  plt.plot(
  path['env_infos']['time'],
- path['env_infos']['rwd_dict'][key]*env.env.rwd_keys_wt[key],
+ path['env_infos']['rwd_dict'][key]*env.rwd_keys_wt[key],
  label=key)
  plt.legend(
  loc='upper left',
@@ -167,9 +190,30 @@ def plot(paths, env=None, fileName_prefix=''):
 
 # Render frames/videos
 def render(rollout_path, render_format:str="mp4", cam_names:list=["left"]):
- # rollout_path: Absolute path of the rollout (h5/pickle)', default=None
- # format: Format to save. Choice['rgb', 'mp4']
- # cam: list of cameras to render. Example ['left', 'right', 'top', 'Franka_wrist']
+ """
+ Render the frames from a given rollout.
+
+ Parameters:
+ rollout_path (str): Absolute path of the rollout (h5/pickle).
+ render_format (str, optional): Format to save the rendered frames. Default is "mp4".
+ cam_names (list, optional): List of cameras to render. Default is ["left"]. Example ['left', 'right', 'top', 'Franka_wrist']
+
+ Returns:
+ None
+
+ Raises:
+ TypeError: If the path format is unknown.
+
+ Notes:
+ - The frames are saved in the specified render format.
+ - The rendered frames can be saved as an mp4 video or as individual RGB images.
+ - The frames are rendered for each camera specified in the cam_names list.
+ - The frames are saved in the same directory as the rollout path.
+ - The output file names are generated based on the rollout name and the camera names.
+
+ Example:
+ render(rollout_path="/path/to/rollout.h5", render_format="mp4", cam_names=["left", "right"])
+ """
 
  output_dir = os.path.dirname(rollout_path)
  rollout_name = os.path.split(rollout_path)[-1]