| 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") | |