From 65b63a375eab3deb835faf011cdf189aaa07e502 Mon Sep 17 00:00:00 2001 From: Vikash Kumar Date: Wed, 15 Mar 2023 15:19:45 -0400 Subject: [PATCH] BUGFIX: derived keys were getting dropped as a result there were no ee_pose in the roboset data --- mj_envs/logger/roboset_logger.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mj_envs/logger/roboset_logger.py b/mj_envs/logger/roboset_logger.py index 1319552c..f783e78b 100644 --- a/mj_envs/logger/roboset_logger.py +++ b/mj_envs/logger/roboset_logger.py @@ -41,8 +41,8 @@ def path2dataset(self, path:dict, config_path=None)->dict: # Derived ===== pose_ee = [] - if 'pos_ee' in path_keys or 'rot_ee' in path_keys: - assert ('pos_ee' in path_keys and 'rot_ee' in path_keys), "Both pose_ee and rot_ee are required" + if 'env_infos/obs_dict/pos_ee' in path_keys or 'env_infos/obs_dict/rot_ee' in path_keys: + assert ('env_infos/obs_dict/pos_ee' in path_keys and 'env_infos/obs_dict/rot_ee' in path_keys), "Both pose_ee and rot_ee are required" dataset['derived/pose_ee'] = np.hstack([path['env_infos/obs_dict/pos_ee'], path['env_infos/obs_dict/rot_ee']]) # Config =====