| import json |
| import os |
| from pathlib import Path |
|
|
| import numpy as np |
| from simpler_env.evaluation.maniskill2_evaluator import maniskill2_evaluator |
|
|
| |
| from examples.SimplerEnv.eval_files.bridgert_ik_trace import install_ik_trace |
| from examples.SimplerEnv.eval_files.custom_argparse import get_args |
| from examples.SimplerEnv.eval_files.model2simpler_interface import ModelClient |
|
|
|
|
| def start_debugpy_once(): |
| import debugpy |
|
|
| if getattr(start_debugpy_once, "_started", False): |
| return |
| debugpy.listen(("0.0.0.0", 10092)) |
| print("🔍 Waiting for VSCode attach on 0.0.0.0:10092 ...") |
| debugpy.wait_for_client() |
| start_debugpy_once._started = True |
|
|
|
|
| if __name__ == "__main__": |
| args = get_args() |
|
|
| os.environ["DISPLAY"] = "" |
| |
| os.environ["XLA_PYTHON_CLIENT_PREALLOCATE"] = "false" |
|
|
| install_ik_trace() |
| if os.getenv("DEBUG", False): |
| start_debugpy_once() |
| model = ModelClient( |
| policy_ckpt_path=args.ckpt_path, |
| policy_setup=args.policy_setup, |
| port=args.port, |
| action_scale=args.action_scale, |
| cfg_scale=1.5, |
| ) |
|
|
| |
| |
| success_arr = maniskill2_evaluator(model, args) |
| print(args) |
| print(" " * 10, "Average success", np.mean(success_arr)) |
| if args.result_json: |
| result = { |
| "schema_version": 2, |
| "env_name": args.env_name, |
| "episode_start": args.obj_episode_range[0], |
| "episode_end": args.obj_episode_range[1], |
| "episode_indices": list(range(*args.obj_episode_range)), |
| "checkpoint": str(Path(args.ckpt_path).resolve()), |
| "server_metadata": getattr(model, "server_metadata", {}), |
| "successes": np.asarray(success_arr, dtype=bool).tolist(), |
| } |
| destination = Path(args.result_json) |
| destination.parent.mkdir(parents=True, exist_ok=True) |
| temporary = destination.with_suffix(destination.suffix + ".tmp") |
| temporary.write_text(json.dumps(result, indent=2) + "\n", encoding="utf-8") |
| os.replace(temporary, destination) |
|
|
