| 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() | |