Make a proper test for trajectory replay tool

[StoneT2000]

Currently we just run the replay tool for coverage purposes. Should add tests to check the actual contents of the saved trajectories/videos.

[zhuoqun-chen]

@StoneT2000 Agree! Also, is there a way to save successful trajectories produced during policy evaluation so they may be used for imitation learning?

[StoneT2000]

I recommend using the RecordEpisodeWrapper from the maniskill2 package which will automatically save trajectories you run through the env following the maniskill2 format

[StoneT2000]

mani_skill2/utils/wrappers/record.py
this one

[zhuoqun-chen]

@StoneT2000 Hi Stone! I tried this one, but it seems that the saved xxx.h5 is not readable by using:

import h5py

f = h5py.File("path_to_trajectory_file/xxx.h5", "r")

the corresponding error messages are:

Traceback (most recent call last):
  File "/home/zqchen/phd/gsl/logs/save_traj_only/videos/read_data.py", line 3, in <module>
    f = h5py.File("/home/zqchen/phd/gsl/logs/save_traj_only/videos/20231228_152428.h5", "r")
  File "/home/zqchen/miniconda3/envs/gsl/lib/python3.8/site-packages/h5py/_hl/files.py", line 562, in __init__
    fid = make_fid(name, mode, userblock_size, fapl, fcpl, swmr=swmr)
  File "/home/zqchen/miniconda3/envs/gsl/lib/python3.8/site-packages/h5py/_hl/files.py", line 235, in make_fid
    fid = h5f.open(name, flags, fapl=fapl)
  File "h5py/_objects.pyx", line 54, in h5py._objects.with_phil.wrapper
  File "h5py/_objects.pyx", line 55, in h5py._objects.with_phil.wrapper
  File "h5py/h5f.pyx", line 102, in h5py.h5f.open
OSError: Unable to synchronously open file (bad object header version number)

A potential reason is that I keyboard interrupted the training (without rendering window) so evaluation environment's close method is not called so self._h5_file.close() is not called?

[StoneT2000]

That is also possible, can you try closing it first before using it?