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977b06e | 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 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | # Optional: print more diagnostics for debugging
# from sapien import disable_renderer
# disable_renderer() # <-- Uncomment to skip the renderer
import logging
import os
import simpler_env
from simpler_env.utils.env.env_builder import build_maniskill2_env
logging.basicConfig(level=logging.DEBUG)
# Resolve rgb_overlay_path relative to the SimplerEnv package location
_simpler_env_root = os.path.dirname(os.path.dirname(simpler_env.__file__))
_overlay_path = os.path.join(_simpler_env_root, "ManiSkill2_real2sim/data/real_inpainting/bridge_sink.png")
env_name = "PutEggplantInBasketScene-v0"
kwargs = {
"obs_mode": "rgbd",
"robot": "widowx_sink_camera_setup",
"sim_freq": 500,
"control_mode": "arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos",
"control_freq": 5,
"max_episode_steps": 120,
"scene_name": "bridge_table_1_v2",
"camera_cfgs": {"add_segmentation": True},
"rgb_overlay_path": _overlay_path,
}
additional_env_build_kwargs = {}
print("🔧 Start building ManiSkill2 env...")
env = build_maniskill2_env(
env_name,
**additional_env_build_kwargs,
**kwargs,
)
print("✅ Env built successfully:", env)
obs = env.reset()
print("📷 First observation keys:", obs.keys() if isinstance(obs, dict) else type(obs))
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