| """Resource and renderer setup, before LIBERO or OpenGL is imported.""" |
| import hashlib |
| import json |
| import os |
| from pathlib import Path |
| import sys |
| import tempfile |
|
|
| ROOT = Path(__file__).resolve().parent.parent |
| RESOURCES = Path(__file__).resolve().parent / "resources" |
|
|
|
|
| def configure(*, renderer=None, config_dir=None): |
| selected = renderer or os.environ.get("MUJOCO_GL", "osmesa") |
| if selected not in ("osmesa", "egl"): |
| raise ValueError("renderer must be osmesa or egl") |
| if "mujoco" in sys.modules and os.environ.get("MUJOCO_GL") != selected: |
| raise RuntimeError("renderer is already initialized; use a fresh process") |
| os.environ["MUJOCO_GL"] = os.environ["PYOPENGL_PLATFORM"] = selected |
| for name in ("OMP_NUM_THREADS", "OPENBLAS_NUM_THREADS", "MKL_NUM_THREADS"): |
| if not os.environ.get(name, '').isdigit() or int(os.environ[name]) < 1: |
| os.environ[name] = "1" |
| base = ROOT / "libero/libero" |
| extension = ROOT / "libero_rotation_planning" |
| paths = dict(benchmark_root=str(base), assets=str(base / "assets"), |
| bddl_files=str(extension / "bddl_files"), |
| init_states=str(extension / "init_files"), |
| datasets=str(RESOURCES / "expert_reference/dataset")) |
| cache = Path(os.environ.get("XDG_CACHE_HOME", Path.home() / ".cache")) |
| default = cache / "libero-geomotion" / hashlib.sha256(str(ROOT).encode()).hexdigest()[:16] |
| target = Path(config_dir or os.environ.get("LIBERO_CONFIG_PATH", default)).resolve() |
| existing_config = getattr(sys.modules.get("libero.libero"), "config_file", None) |
| if existing_config is not None: |
| existing = Path(existing_config).resolve() |
| if existing != target / "config.yaml": |
| raise RuntimeError("LIBERO config already initialized; use a fresh process") |
| target.mkdir(parents=True, exist_ok=True) |
| contents = json.dumps(paths, indent=2) + "\n" |
| path = target / "config.yaml" |
| if not path.exists() or path.read_text() != contents: |
| with tempfile.NamedTemporaryFile(mode="w", dir=target, delete=False) as stream: |
| stream.write(contents) |
| temporary = stream.name |
| os.replace(temporary, path) |
| os.environ["LIBERO_CONFIG_PATH"] = str(target) |
| return paths |
|
|
|
|
| def reference_manifest(): |
| return json.loads((RESOURCES / "expert_reference/reference_manifest.json").read_text()) |
|
|
|
|
| def evaluation_protocol(): |
| return json.loads((RESOURCES / "evaluation_protocol.json").read_text()) |
|
|
|
|
| def task_manifest(): |
| path = ROOT / "libero_rotation_planning/benchmark/task_manifest.json" |
| return json.loads(path.read_text()) |
|
|
