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| import logging |
| import os |
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| import simpler_env |
| from simpler_env.utils.env.env_builder import build_maniskill2_env |
|
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| logging.basicConfig(level=logging.DEBUG) |
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| |
| _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 = {} |
|
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| 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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|
