| """Сверка НАШЕЙ среды с авторским конфигом прогона StarVLA. |
| |
| Авторский Namespace (из лога в репозитории чекпойнта): |
| scene_name='bridge_table_1_v1' |
| rgb_overlay_path='.../real_inpainting/bridge_real_eval_1.png' |
| robot_init_x_range=[0.147], robot_init_y_range=[0.028] |
| robot_init_rot_quat_center=[0,0,0,1] |
| obj_variation_mode='episode', obj_episode_range=[0,24] |
| control_freq=5, sim_freq=500, max_episode_steps=120, action_scale=1.0 |
| """ |
| import os |
| import numpy as np |
|
|
| os.environ.setdefault("MUJOCO_GL", "egl") |
| import simpler_env |
|
|
| TASKS = {"widowx_carrot_on_plate": "PutCarrotOnPlateInScene-v0", |
| "widowx_spoon_on_towel": "PutSpoonOnTableClothInScene-v0", |
| "widowx_put_eggplant_in_basket": "PutEggplantInBasketScene-v0", |
| "widowx_stack_cube": "StackGreenCubeOnYellowCubeBakedTexInScene-v0"} |
|
|
| for short, full in TASKS.items(): |
| env = simpler_env.make(short) |
| u = env.unwrapped |
| print("") |
| print("=== %s (%s) ===" % (short, full)) |
| for attr in ("scene_name", "rgb_overlay_path", "rgb_overlay_mode", |
| "control_freq", "sim_freq", "obj_variation_mode", |
| "episode_id", "robot_uid"): |
| print(" %-22s %s" % (attr, getattr(u, attr, "<нет>"))) |
| spec = getattr(env, "spec", None) |
| print(" %-22s %s" % ("max_episode_steps", getattr(spec, "max_episode_steps", None))) |
| ov = getattr(u, "rgb_overlay_img", None) |
| print(" %-22s %s" % ("rgb_overlay_img", None if ov is None else np.asarray(ov).shape)) |
| obs, _ = env.reset(options={"obj_init_options": {"episode_id": 0}}) |
| try: |
| agent = u.agent |
| root = agent.robot.get_root_pose() |
| print(" поза основания p=%s q=%s" % (np.round(root.p, 4), np.round(root.q, 4))) |
| except Exception as e: |
| print(" поза основания: %r" % (e,)) |
| print(" инструкция: %s" % env.get_language_instruction()) |
| env.close() |
|
|
