[fix] render-window crash due to window-deletion; add parse_mjl.py from vive

robohive/envs/env_base.py

@@ -524,6 +524,13 @@ def reset(self, reset_qpos=None, reset_qvel=None, seed=None, **kwargs):
     #     return self.step(a)
 
 
+    def close(self):
+        """
+        Clean up the environment
+        """
+        if self.sim:
+            self.sim.close()
+
     @property
     def dt(self):
         return self.sim.model.opt.timestep * self.frame_skip

robohive/envs/multi_task/utils/parse_demos.py

@@ -18,12 +18,16 @@
 import glob
 import pickle
 import numpy as np
-from vive.source.parse_mjl import parse_mjl_logs, viz_parsed_mjl_logs
-from mjrl.utils.gym_env import GymEnv
+
+try:
+    from mjrl.utils.gym_env import GymEnv
+except ImportError:
+    GymEnv = None
 import robohive
 import time as timer
 # import skvideo.io
 from robohive.utils import gym
+from robohive.utils.parse_mjl import parse_mjl_logs, viz_parsed_mjl_logs
 
 from tqdm import tqdm
 
@@ -52,6 +56,7 @@ def viewer(env,
             render_buffer.append(curr_frame)
 
         if mode == 'save':
+            import skvideo
             skvideo.io.vwrite(filename, np.asarray(render_buffer))
             print("\noffscreen buffer saved", filename)
 

robohive/renderer/mj_renderer.py

@@ -32,6 +32,7 @@ def __init__(self, sim):
         self._renderer = None
         self._paused = False
         self._user_exit = False
+        self._closing = False
 
 
     # viewer callback
@@ -68,7 +69,7 @@ def render_to_window(self):
 
     def refresh_window(self):
         """Refreshes the rendered window if one is present."""
-        if self._window is None:
+        if self._window is None or self._closing:
             return
         self._window.sync()
 
@@ -152,7 +153,11 @@ def _update_renderer_settings(self, renderer):
 
     def close(self):
         """Cleans up any resources being used by the renderer."""
-        if self._window:
-            self._window.close()
-            self._window = None
-            quit()
+        if self._window and not self._closing:
+            self._closing = True
+            try:
+                if self._window.is_running():
+                    self._window.close()
+            except Exception:
+                pass
+            self._window = None

robohive/utils/parse_mjl.py

@@ -0,0 +1,93 @@
+DESC = '''
+Parse mujoco (.mjl) logs\n
+mjl format: http://www.mujoco.org/book/haptix.html#uiRecord
+'''
+import struct
+import numpy as np
+import matplotlib as mpl
+mpl.use('TkAgg')
+import matplotlib.pyplot as plt
+import click
+
+# parse mjl binary logs into python dictionary
+def parse_mjl_logs(read_filename, skipamount):
+    with open(read_filename, mode='rb') as file:
+        fileContent = file.read()
+    headers = struct.unpack('iiiiiii', fileContent[:28])
+    nq = headers[0]
+    nv = headers[1]
+    nu = headers[2]
+    nmocap = headers[3]
+    nsensordata = headers[4]
+    nuserdata = headers[5]
+    name_len = headers[6]
+    name = struct.unpack(str(name_len) + 's', fileContent[28:28+name_len])[0]
+    rem_size = len(fileContent[28 + name_len:])
+    num_floats = int(rem_size/4)
+    dat = np.asarray(struct.unpack(str(num_floats) + 'f', fileContent[28+name_len:]))
+    recsz = 1 + nq + nv + nu + 7*nmocap + nsensordata + nuserdata
+    if rem_size % recsz != 0:
+        print("ERROR")
+    else:
+        dat = np.reshape(dat, (int(len(dat)/recsz), recsz))
+        dat = dat.T
+
+    time = dat[0,:][::skipamount] - 0*dat[0, 0]
+    qpos = dat[1:nq + 1, :].T[::skipamount, :]
+    qvel = dat[nq+1:nq+nv+1,:].T[::skipamount, :]
+    ctrl = dat[nq+nv+1:nq+nv+nu+1,:].T[::skipamount,:]
+    mocap_pos = dat[nq+nv+nu+1:nq+nv+nu+3*nmocap+1,:].T[::skipamount, :]
+    mocap_quat = dat[nq+nv+nu+3*nmocap+1:nq+nv+nu+7*nmocap+1,:].T[::skipamount, :]
+    sensordata = dat[nq+nv+nu+7*nmocap+1:nq+nv+nu+7*nmocap+nsensordata+1,:].T[::skipamount,:]
+    userdata = dat[nq+nv+nu+7*nmocap+nsensordata+1:,:].T[::skipamount,:]
+
+    data = dict(nq=nq,
+               nv=nv,
+               nu=nu,
+               nmocap=nmocap,
+               nsensordata=nsensordata,
+               name=name,
+               time=time,
+               qpos=qpos,
+               qvel=qvel,
+               ctrl=ctrl,
+               mocap_pos=mocap_pos,
+               mocap_quat=mocap_quat,
+               sensordata=sensordata,
+               userdata=userdata,
+               logName = read_filename
+               )
+    return data
+
+# visualize parsed logs
+def viz_parsed_mjl_logs(data):
+    f, axarr = plt.subplots(2, sharex=True)
+    axarr[0].plot(data['time'], data['qpos'])
+    axarr[0].set_ylabel('qpos')
+    axarr[0].set_title(data['logName'])
+    axarr[1].plot(data['time'], data['ctrl'])
+    axarr[1].set_ylabel('ctrl')
+    axarr[1].set_xlabel('time')
+    plt.savefig(data['logName'][:-4]+".png")
+    print(data['logName'][:-4]+".png saved")
+
+
+
+# MAIN =========================================================
+@click.command(help=DESC)
+@click.option('--log', '-l', type=str, help='.mjl log to parse', required= True)
+@click.option('--skip', '-s', type=int, help='number of frames to skip (1:no skip)', default=1)
+@click.option('--plot', '-p', type=bool, help='plot parsed logs', default=False)
+def main(log, skip, plot):
+    print("Loading log file: %s" % log)
+    data = parse_mjl_logs(log, skip)
+    print("file successfully parsed")
+
+
+    if(plot):
+        print("plotting data")
+        viz_parsed_mjl_logs(data)
+
+
+if __name__ == '__main__':
+    main()