render_obs.sh

#!/usr/bin/env bash
set -euo pipefail

# Render robomimic image observations from a robosuite demonstration dataset.
# Usage: ./render_obs.sh demo_v15

DATASET="${1:-demo_v15}"
ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
INPUT_PATH="${ROOT_DIR}/code/datasets/raw_demos/${DATASET}.hdf5"
OUTPUT_PATH="${ROOT_DIR}/code/datasets/${DATASET}_obs.hdf5"

mkdir -p "$(dirname "${INPUT_PATH}")" "$(dirname "${OUTPUT_PATH}")"

echo "Rendering observations for: ${DATASET}"
echo "Input:  ${INPUT_PATH}"
echo "Output: ${OUTPUT_PATH}"

uv run python -m robomimic.scripts.dataset_states_to_obs \
  --dataset "${INPUT_PATH}" \
  --output_name "${OUTPUT_PATH}" \
  --camera_names agentview robot0_eye_in_hand \
  --camera_height 84 \
  --camera_width 84 \
  --done_mode 2 \
  --compress

echo "Done. Output saved to: ${OUTPUT_PATH}"