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Add logging for h5 (#119)
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* add krec saving

* update h5 logging to use HDF5Logger, same as sim2sim.py

* add  parallel envs and handle saving for h5

* add parallel env saving for krec as well

* remove plotting and remove onnx export

* update logic

* add script to compare h5 files from mujoco vs isaac to ensure consistency

* update numpy requirement to <2.0.0

* change pillow req to > 6.2.0

* scipy version > 1.10.0

* lint

* organise imports

---------

Co-authored-by: budzianowski <budzianowski@gmail.com>
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@alik-git @budzianowski
alik-git and budzianowski authored Dec 3, 2024
1 parent df886c1 commit 2e53688
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119 changes: 119 additions & 0 deletions sim/compare_h5.py
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Original file line number Diff line number Diff line change
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"""
Compare two HDF5 files and analyze their differences.
Usage:
python compare_h5.py --isaac-file path/to/isaac.h5 --mujoco-file path/to/mujoco.h5
Example:
python sim/compare_h5.py \
--isaac-file runs/h5_out/stompypro/2024-12-02_20-04-51/env_0/stompypro_env_0/h5_out/2024-12-02_20-04-51__053b2b5b-21c9-497c-b637-b66935dfe475.h5 \
--mujoco-file sim/resources/stompypro/h5_out/2024-12-02_21-10-41__5820ade7-9fc0-46df-8469-2f305480bcae.h5
python sim/compare_h5.py \
--isaac-file runs/h5_out/stompypro/2024-12-02_20-04-51/env_1/stompypro_env_1/h5_out/2024-12-02_20-04-51__d2016a6f-a486-4e86-8c5e-c9addd2cc13e.h5 \
--mujoco-file sim/resources/stompypro/h5_out/2024-12-02_21-10-41__5820ade7-9fc0-46df-8469-2f305480bcae.h5
"""

import argparse
from pathlib import Path

import h5py
import numpy as np


def load_h5_file(file_path):
"""Load H5 file and return a dictionary of datasets"""
data = {}
with h5py.File(file_path, "r") as f:
# Recursively load all datasets
def load_group(group, prefix=""):
for key in group.keys():
path = f"{prefix}/{key}" if prefix else key
if isinstance(group[key], h5py.Group):
load_group(group[key], path)
else:
data[path] = group[key][:]

load_group(f)
return data


def compare_h5_files(issac_path, mujoco_path):
"""Compare two H5 files and print differences"""
print(f"\nLoading files:")
print(f"Isaac: {issac_path}")
print(f"Mujoco: {mujoco_path}")

# Load both files
issac_data = load_h5_file(issac_path)
mujoco_data = load_h5_file(mujoco_path)

print("\nFile lengths:")
print(f"Isaac datasets: {len(issac_data)}")
print(f"Mujoco datasets: {len(mujoco_data)}")

print("\nDataset shapes:")
print("\nIsaac shapes:")
for key, value in issac_data.items():
print(f"{key}: {value.shape}")

print("\nMujoco shapes:")
for key, value in mujoco_data.items():
print(f"{key}: {value.shape}")

# Find common keys
common_keys = set(issac_data.keys()) & set(mujoco_data.keys())
print(f"\nCommon datasets: {len(common_keys)}")

# Find uncommon keys
issac_only_keys = set(issac_data.keys()) - common_keys
mujoco_only_keys = set(mujoco_data.keys()) - common_keys
print(f"\nIsaac only datasets: {len(issac_only_keys)}")
for key in issac_only_keys:
print(f"Isaac only: {key}")
print(f"\nMujoco only datasets: {len(mujoco_only_keys)}")
for key in mujoco_only_keys:
print(f"Mujoco only: {key}")

# Compare data for common keys
for key in common_keys:
issac_arr = issac_data[key]
mujoco_arr = mujoco_data[key]

print(f"\n========== For {key} ===============")

if issac_arr.shape != mujoco_arr.shape:
print(f"\n{key} - Shape mismatch: Isaac {issac_arr.shape} vs Mujoco {mujoco_arr.shape}")

# Calculate differences
min_shape = min(issac_arr.shape[0], mujoco_arr.shape[0])
if issac_arr.shape != mujoco_arr.shape:
raise ValueError(f"Shapes do not match for {key}. Cannot compare datasets with different shapes.")
diff = np.abs(issac_arr[:min_shape] - mujoco_arr[:min_shape])
max_diff = np.max(diff)
mean_diff = np.mean(diff)

print(f"Max difference: {max_diff:.6f}")
print(f"Mean difference: {mean_diff:.6f}\n")

start_idx = 0
display_timesteps = 10
end_idx = start_idx + display_timesteps

np.set_printoptions(formatter={"float": "{:0.6f}".format}, suppress=True)
print("Isaac:\n", issac_arr[start_idx:end_idx])
print("Mujoco:\n", mujoco_arr[start_idx:end_idx])


if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Compare two H5 files from Isaac and Mujoco simulations")
parser.add_argument("--isaac-file", required=True, help="Path to Isaac simulation H5 file")
parser.add_argument("--mujoco-file", required=True, help="Path to Mujoco simulation H5 file")

args = parser.parse_args()

print(f"Isaac path: {args.isaac_file}")
print(f"Mujoco path: {args.mujoco_file}")

compare_h5_files(args.isaac_file, args.mujoco_file)
31 changes: 22 additions & 9 deletions sim/h5_logger.py
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Original file line number Diff line number Diff line change
@@ -1,16 +1,23 @@
""" Logger for logging data to HDF5 files """
import os
import uuid
from datetime import datetime
from typing import Dict

import h5py
import matplotlib.pyplot as plt
import matplotlib.pyplot as plt # dependency issues with python 3.8
import numpy as np
from datetime import datetime


class HDF5Logger:
def __init__(self, data_name: str, num_actions: int, max_timesteps: int, num_observations: int, h5_out_dir: str = "sim/resources/"):
def __init__(
self,
data_name: str,
num_actions: int,
max_timesteps: int,
num_observations: int,
h5_out_dir: str = "sim/resources/",
):
self.data_name = data_name
self.num_actions = num_actions
self.max_timesteps = max_timesteps
Expand All @@ -33,16 +40,22 @@ def _create_h5_file(self):
h5_file = h5py.File(h5_file_path, "w")

# Create datasets for logging actions and observations
dset_prev_actions = h5_file.create_dataset("prev_actions", (self.max_timesteps, self.num_actions), dtype=np.float32)
dset_prev_actions = h5_file.create_dataset(
"prev_actions", (self.max_timesteps, self.num_actions), dtype=np.float32
)
dset_2D_command = h5_file.create_dataset("observations/2D_command", (self.max_timesteps, 2), dtype=np.float32)
dset_3D_command = h5_file.create_dataset("observations/3D_command", (self.max_timesteps, 3), dtype=np.float32)
dset_q = h5_file.create_dataset("observations/q", (self.max_timesteps, self.num_actions), dtype=np.float32)
dset_dq = h5_file.create_dataset("observations/dq", (self.max_timesteps, self.num_actions), dtype=np.float32)
dset_ang_vel = h5_file.create_dataset("observations/ang_vel", (self.max_timesteps, 3), dtype=np.float32)
dset_euler = h5_file.create_dataset("observations/euler", (self.max_timesteps, 3), dtype=np.float32)
dset_t = h5_file.create_dataset("observations/t", (self.max_timesteps, 1), dtype=np.float32)
dset_buffer = h5_file.create_dataset("observations/buffer", (self.max_timesteps, self.num_observations), dtype=np.float32)
dset_curr_actions = h5_file.create_dataset("curr_actions", (self.max_timesteps, self.num_actions), dtype=np.float32)
dset_buffer = h5_file.create_dataset(
"observations/buffer", (self.max_timesteps, self.num_observations), dtype=np.float32
)
dset_curr_actions = h5_file.create_dataset(
"curr_actions", (self.max_timesteps, self.num_actions), dtype=np.float32
)

# Map datasets for easy access
h5_dict = {
Expand All @@ -63,11 +76,11 @@ def log_data(self, data: Dict[str, np.ndarray]):
if self.current_timestep >= self.max_timesteps:
print(f"Warning: Exceeded maximum timesteps ({self.max_timesteps})")
return

for key, dataset in self.h5_dict.items():
if key in data:
dataset[self.current_timestep] = data[key]

self.current_timestep += 1

def close(self):
Expand All @@ -80,7 +93,7 @@ def close(self):
# Delete the file
os.remove(self.h5_file.filename)
return

self.h5_file.close()

@staticmethod
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