Revert "add h5 ouput path as cmd arg w sensible defaults, and add tim…

…estamp to the h5 output filename"

This reverts commit 2c48d0b.

sim/h5_logger.py

@@ -6,31 +6,22 @@
 import h5py
 import matplotlib.pyplot as plt
 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):
         self.data_name = data_name
         self.num_actions = num_actions
         self.max_timesteps = max_timesteps
         self.num_observations = num_observations
         self.max_threshold = 1e3  # Adjust this threshold as needed
-        self.h5_out_dir = h5_out_dir
         self.h5_file, self.h5_dict = self._create_h5_file()
         self.current_timestep = 0
 
     def _create_h5_file(self):
         # Create a unique file ID
         idd = str(uuid.uuid4())
-        timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
-
-        curr_h5_out_dir = f"{self.h5_out_dir}/{self.data_name}/h5_out/"
-        os.makedirs(curr_h5_out_dir, exist_ok=True)
-
-        h5_file_path = f"{curr_h5_out_dir}/{timestamp}__{idd}.h5"
-        print(f"Saving HDF5 data to {h5_file_path}")
-        h5_file = h5py.File(h5_file_path, "w")
+        h5_file = h5py.File(f"{self.data_name}/{idd}.h5", "w")
 
         # Create datasets for logging actions and observations
         dset_actions = h5_file.create_dataset("prev_actions", (self.max_timesteps, self.num_actions), dtype=np.float32)
@@ -56,6 +47,7 @@ def _create_h5_file(self):
             "buffer": dset_buffer,
         }
         return h5_file, h5_dict
+
     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})")

sim/sim2sim.py

@@ -110,7 +110,6 @@ def run_mujoco(
     keyboard_use: bool = False,
     log_h5: bool = False,
     render: bool = True,
-    h5_out_dir: str = "sim/resources",
 ) -> None:
     """
     Run the Mujoco simulation using the provided policy and configuration.
@@ -179,13 +178,7 @@ def run_mujoco(
 
     if log_h5:
         stop_state_log = int(cfg.sim_duration / cfg.dt) / cfg.decimation
-        logger = HDF5Logger(
-            data_name=embodiment,
-            num_actions=model_info["num_actions"],
-            max_timesteps=stop_state_log,
-            num_observations=model_info["num_observations"],
-            h5_out_dir=h5_out_dir
-        )
+        logger = HDF5Logger(embodiment, model_info["num_actions"], stop_state_log, model_info["num_observations"])
 
     # Initialize variables for tracking upright steps and average speed
     upright_steps = 0
@@ -319,7 +312,6 @@ def parse_modelmeta(
     parser.add_argument("--load_model", type=str, required=True, help="Path to run to load from.")
     parser.add_argument("--keyboard_use", action="store_true", help="keyboard_use")
     parser.add_argument("--log_h5", action="store_true", help="log_h5")
-    parser.add_argument("--h5_out_dir", type=str, default="sim/resources", help="Directory to save HDF5 files")
     parser.add_argument("--no_render", action="store_false", dest="render", help="Disable rendering")
     parser.set_defaults(render=True)
     args = parser.parse_args()
@@ -371,5 +363,4 @@ def parse_modelmeta(
         args.keyboard_use,
         args.log_h5,
         args.render,
-        args.h5_out_dir,
     )