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proto2csv

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erwincoumans 2019-01-27 12:11:40 -08:00
parent 6c2568bf5e
commit 505cb15600
1 changed files with 19 additions and 1 deletions
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20
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_proto_dump_example.py
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@ -1,4 +1,6 @@
import argparse
import numpy
from pybullet_envs.minitaur.envs import minitaur_logging
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@ -6,4 +8,20 @@ parser.add_argument('--log_file', help='path to protobuf file', default='')
args = parser.parse_args()
logging = minitaur_logging.MinitaurLogging()
episode = logging.restore_episode(args.log_file)
print("episode=",episode)
#print(dir (episode))
#print("episode=",episode)
fields = episode.ListFields()
recs = []
for rec in fields[0][1]:
#print(rec.time)
for motorState in rec.motor_states:
#print("motorState.angle=",motorState.angle)
#print("motorState.velocity=",motorState.velocity)
#print("motorState.action=",motorState.action)
#print("motorState.torque=",motorState.torque)
recs.append([motorState.angle,motorState.velocity,motorState.action,motorState.torque])
a = numpy.array(recs)
numpy.savetxt("motorq_qdot_action_torque.csv", a, delimiter=",")