Rollout trajectories#6
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Added a copy of the demo zarr folders to env_runner for convenience.
Rolls out the action steps in simulation and creates an output video. TODO: Fix the starting environment so that block positions are consistent.
Temporary workaround (instead of changing all the function signatures) to dump the initial observation into a json and have env's reset use it to hard set and have the right matching starting block positions.
Updated the working directory in launch.json so custom_runner could be imported as a module.
Rolls out entire trajectory and saves the simulation video. Saves the simulation video of the source demonstrations. Plot the predicted_artificial trajectory and the actual_artificial trajectory points in global_plots. TODO: Update the actual obs/actions dictionary of the obs.
Fix issue where on demonstration 0, it calculates distance compared to the last global observation.
Loops through demos, creates artificial forward and reverse trajcectories, rolls them out, and evaluates their success. Stats tracked in global_plots/successful_demos.txt
Use the init obs of the second half of the spliced artificial path to place the blocks. (Works, but seems sort of trivial?)
Set whether you want the plots or rollout videos saved as a parameter for the DemoAggregate class that gets passed to other functions.
r+ was causing weird changes to the meta files
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