File size: 696 Bytes
3922a1b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | import sys, numpy as np
sys.path.insert(0, "/app/third_party/libero")
from libero.libero import benchmark, get_libero_path
from libero.libero.envs import OffScreenRenderEnv
import imageio
bm = benchmark.get_benchmark_dict()["libero_spatial"]()
task = bm.get_task(0)
bddl = get_libero_path("bddl_files") + "/" + task.problem_folder + "/" + task.bddl_file
env = OffScreenRenderEnv(bddl_file_name=bddl, camera_heights=256, camera_widths=256)
obs = env.reset()
img = obs["agentview_image"]
imageio.imwrite("/out/render_raw.png", img)
imageio.imwrite("/out/render_rot180.png", np.ascontiguousarray(img[::-1, ::-1]))
print("saved. raw top/bottom mean:", img[:128].mean(), img[128:].mean())
env.close()
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