diff --git a/bigym/bigym_env.py b/bigym/bigym_env.py index 03c6fc8..66bb56b 100644 --- a/bigym/bigym_env.py +++ b/bigym/bigym_env.py @@ -5,19 +5,19 @@ from pathlib import Path from typing import Any, Optional, Type +import gymnasium as gym import mujoco import numpy as np -import gymnasium as gym from gymnasium import spaces from mojo import Mojo -from mojo.elements import Geom, Camera +from mojo.elements import Camera, Geom from bigym.action_modes import ActionMode +from bigym.bigym_renderer import BiGymRenderer from bigym.const import WORLD_MODEL from bigym.envs.props.preset import Preset from bigym.robots.configs.h1 import H1 from bigym.robots.robot import Robot -from bigym.bigym_renderer import BiGymRenderer from bigym.utils.callables_cache import CallablesCache from bigym.utils.env_health import EnvHealth from bigym.utils.observation_config import ObservationConfig diff --git a/demonstrations/demo_store.py b/demonstrations/demo_store.py index 1509004..b9cc0b3 100644 --- a/demonstrations/demo_store.py +++ b/demonstrations/demo_store.py @@ -1,24 +1,23 @@ """Script for uploading the collected demos.""" import logging import os +import tempfile import warnings import zipfile +from copy import deepcopy +from pathlib import Path from typing import Optional import numpy as np -import tempfile -from pathlib import Path -from copy import deepcopy - import wget from tqdm import tqdm from bigym.bigym_env import CONTROL_FREQUENCY_MAX from bigym.const import CACHE_PATH, DEMO_RELEASES, DEMO_VERSION from demonstrations.const import SAFETENSORS_SUFFIX -from demonstrations.utils import Metadata, ObservationMode from demonstrations.demo import Demo, LightweightDemo from demonstrations.demo_converter import DemoConverter +from demonstrations.utils import Metadata, ObservationMode class DemoNotFoundError(Exception): @@ -165,9 +164,10 @@ def _get_demos(self, demos_dir: Path, amount: int) -> list[Demo]: files = list(demos_dir.glob(f"*{SAFETENSORS_SUFFIX}")) if amount > len(files): raise TooManyDemosRequestedError(amount, len(files)) - elif amount > 0: - files = files[:amount] + np.random.shuffle(files) + if amount > 0: + files = files[:amount] return [Demo.from_safetensors(file) for file in files] def _get_demos_count(self, demos_dir: Path) -> int: