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693cc84 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 | import sys
sys.path.insert(0, "/app/third_party/libero")
from libero.libero import benchmark, get_libero_path
import numpy as np
bm = benchmark.get_benchmark_dict()["libero_spatial"]()
task = bm.get_task(0)
print("task:", task.name)
bddl = get_libero_path("bddl_files") + "/" + task.problem_folder + "/" + task.bddl_file
print("bddl:", bddl)
from libero.libero.envs import OffScreenRenderEnv
env = OffScreenRenderEnv(bddl_file_name=bddl, camera_heights=256, camera_widths=256)
obs = env.reset()
print("RESET OK. obs keys:", sorted(obs.keys()))
img = obs["agentview_image"]
print("agentview_image shape:", img.shape, "dtype:", img.dtype, "nonzero px:", int((img > 0).sum()))
wrist = obs["robot0_eye_in_hand_image"]
print("wrist image shape:", wrist.shape, "nonzero px:", int((wrist > 0).sum()))
obs2, r, done, info = env.step(np.zeros(7))
print("STEP OK, reward:", r, "done:", done)
env.close()
print("ALL RENDER CHECKS PASSED")
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