notebooks/visualize_dataset_episodes.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Visualize dataset\n",
    "\n",
    "Utilities to visualize episodes from a dataset. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "from matplotlib import pyplot as plt\n",
    "from matplotlib import animation\n",
    "import pathlib\n",
    "from IPython.display import Video\n",
    "import numpy as np\n",
    "import os\n",
    "\n",
    "dataset_path = pathlib.Path(os.path.abspath('')).parent / 'data/stickman_example'\n",
    "\n",
    "directory = dataset_path.expanduser()\n",
    "filenames = sorted(directory.glob('*.npz'))\n",
    "if len(filenames) == 0:\n",
    "    raise ValueError(\"Empty directory (or no episodes)\")\n",
    "\n",
    "try:\n",
    "    filenames_dict = { int(str(f).replace(str(dataset_path), \"\").split(\"-\")[0][1:]) : f for f in filenames}\n",
    "except Exception as e:\n",
    "    print(\"Error:\", e)\n",
    "\n",
    "print(directory)\n",
    "print(len(filenames))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "ep_num = next(iter(filenames_dict))\n",
    "\n",
    "filename = filenames_dict[ep_num]\n",
    "with filename.open('rb') as f:\n",
    "    episode = np.load(f)\n",
    "    episode = {k: episode[k] for k in episode.keys()}\n",
    "\n",
    "# Show reward on top with red/green bar\n",
    "pix_rew_max = np.round(episode['reward'] / 2 * 64)\n",
    "for ob, pix_n in zip(episode['observation'], pix_rew_max):\n",
    "    if pix_n < 0:\n",
    "        pix_n = abs(pix_n)\n",
    "        ob[:, 0, :int(pix_n+1)] = np.array([255,0,0]).reshape(3,1)\n",
    "    else:\n",
    "        ob[:, 0, :int(pix_n+1)] = np.array([0,255,0]).reshape(3,1)\n",
    "\n",
    "# # np array with shape (frames, height, width, channels)\n",
    "video = np.transpose(episode['observation'], axes=[0,2,3,1])\n",
    "\n",
    "fig = plt.figure(frameon=False)\n",
    "ax = plt.Axes(fig, [0., 0., 1., 1.])\n",
    "ax.set_axis_off()\n",
    "fig.add_axes(ax)\n",
    "fig.subplots_adjust(top = 1, bottom = 0, right = 1, left = 0, hspace = 0, wspace = 0)\n",
    "fig.set_size_inches(2,2)\n",
    "im = ax.imshow(video[0,:,:,:])\n",
    "plt.close() # this is required to not display the generated image\n",
    "\n",
    "def init():\n",
    "    im.set_data(video[0,:,:,:])\n",
    "\n",
    "def animate(i):\n",
    "    im.set_data(video[i,:,:,:])\n",
    "    return im\n",
    "\n",
    "print('Episode reward', np.sum(episode['reward']))\n",
    "anim = animation.FuncAnimation(fig, animate, init_func=init, frames=video.shape[0],interval=45)\n",
    "file_path = str(pathlib.Path(os.path.abspath('')) / 'videos/temp.mp4')\n",
    "anim.save(file_path)\n",
    "print('Video file', file_path)\n",
    "Video(file_path)"
   ]
  }
 ],
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