assests / common /source /starBenchserver /benchmarks /simBenchmarks /SimplerEnv /environment /verify_environment.py
| #!/usr/bin/env python3 | |
| """Verify a minimal SimplerEnv installation without invoking a policy.""" | |
| from __future__ import annotations | |
| import argparse | |
| import copy | |
| import json | |
| from typing import Any | |
| def _shape(value: Any) -> list[int] | None: | |
| shape = getattr(value, "shape", None) | |
| return None if shape is None else [int(item) for item in shape] | |
| def check_cached_render(env: Any, image: Any) -> dict[str, Any]: | |
| """Infrastructure-only check of the scheduled image and cached raw Color. | |
| The photographic overlay can conceal an entirely black native render. | |
| Never acquire another picture or query the scorer to perform this check. | |
| This helper is not a policy observation or a capability/parity certificate. | |
| """ | |
| import numpy as np | |
| rgb = np.asarray(image) | |
| if rgb.dtype != np.uint8 or rgb.ndim != 3 or rgb.shape[-1] != 3 or not rgb.size: | |
| raise ValueError("scheduled RGB must be a nonempty H x W x 3 uint8 array") | |
| native = env.unwrapped | |
| if "google_robot" in native.robot_uid: | |
| camera = "overhead_camera" | |
| elif "widowx" in native.robot_uid: | |
| camera = "3rd_view_camera" | |
| else: | |
| raise ValueError("unknown native robot camera mapping") | |
| buffers = native._cameras[camera].get_images(take_picture=False) | |
| color = np.asarray(buffers["Color"]) | |
| if color.ndim != 3 or color.shape[:2] != rgb.shape[:2] or color.shape[-1] != 4: | |
| raise ValueError("cached native Color must match scheduled RGB dimensions") | |
| raw_rgb = color[..., :3] | |
| if not np.issubdtype(raw_rgb.dtype, np.number) or not np.isfinite(raw_rgb).all(): | |
| raise ValueError("cached native Color contains nonnumeric or nonfinite values") | |
| if not np.any(raw_rgb != 0): | |
| raise ValueError( | |
| "cached native Color is entirely zero: a photographic overlay can hide " | |
| "this rendering failure; inspect native OptiX logs and matching driver " | |
| "denoiser data before any model trial" | |
| ) | |
| return { | |
| "camera": camera, | |
| "cached_raw_color_shape": _shape(color), | |
| "cached_raw_color_finite": True, | |
| "cached_raw_rgb_nonzero_values": int(np.count_nonzero(raw_rgb)), | |
| "cached_raw_rgb_min": float(raw_rgb.min()), | |
| "cached_raw_rgb_max": float(raw_rgb.max()), | |
| "extra_picture_acquisitions": 0, | |
| "extra_scorer_requests": 0, | |
| "limitation": "Detects missing/nonfinite/all-zero cached RGB only; not task foreground quality or native parity certification.", | |
| } | |
| def build_parser() -> argparse.ArgumentParser: | |
| parser = argparse.ArgumentParser(description=__doc__) | |
| parser.add_argument("--task", default="widowx_spoon_on_towel") | |
| parser.add_argument("--seed", type=int, default=0) | |
| parser.add_argument("--steps", type=int, default=1, help="diagnostic constant-action steps, not model evaluation") | |
| parser.add_argument("--list", action="store_true", help="list installed task names and exit") | |
| return parser | |
| def main() -> int: | |
| args = build_parser().parse_args() | |
| if not 0 <= args.steps <= 5: | |
| raise SystemExit("diagnostic --steps must be between 0 and 5") | |
| try: | |
| import gymnasium as gym | |
| import numpy as np | |
| import simpler_env | |
| from simpler_env.utils.env.observation_utils import ( | |
| get_image_from_maniskill2_obs_dict, | |
| ) | |
| except Exception as exc: | |
| raise SystemExit( | |
| "SimplerEnv import failed. Activate starvla-rsi-simpler and follow " | |
| f"benchmarks/simBenchmarks/SimplerEnv/README.md. Root cause: {type(exc).__name__}: {exc}" | |
| ) from exc | |
| available = tuple(sorted(str(name) for name in simpler_env.ENVIRONMENTS)) | |
| if args.list: | |
| print("\n".join(available)) | |
| return 0 | |
| if args.task not in available: | |
| raise SystemExit( | |
| f"unknown task {args.task!r}; run with --list to inspect this installation" | |
| ) | |
| env = None | |
| try: | |
| env_id, options = simpler_env.ENVIRONMENT_MAP[args.task] | |
| options = copy.deepcopy(options) | |
| options.update(obs_mode="rgbd", prepackaged_config=True) | |
| env = gym.make(env_id, **options) | |
| observation, _ = env.reset(seed=args.seed) | |
| image = get_image_from_maniskill2_obs_dict(env, observation) | |
| render_checks = [check_cached_render(env, image)] | |
| for _ in range(args.steps): | |
| observation, _, _, _, _ = env.step(np.zeros(env.action_space.shape, dtype=np.float32)) | |
| image = get_image_from_maniskill2_obs_dict(env, observation) | |
| render_checks.append(check_cached_render(env, image)) | |
| report = { | |
| "status": "ok", | |
| "task": args.task, | |
| "instruction": env.unwrapped.get_language_instruction(), | |
| "image_shape": _shape(image), | |
| "action_shape": _shape(env.action_space), | |
| "diagnostic_steps": args.steps, | |
| "available_task_count": len(available), | |
| "render_checks": render_checks, | |
| } | |
| print(json.dumps(report, indent=2, sort_keys=True)) | |
| except Exception as exc: | |
| raise SystemExit( | |
| "SimplerEnv reset/render check failed. Verify recursive submodules, GPU " | |
| f"visibility, Vulkan/SAPIEN, and assets. Root cause: {type(exc).__name__}: {exc}" | |
| ) from exc | |
| finally: | |
| if env is not None: | |
| env.close() | |
| return 0 | |
| if __name__ == "__main__": | |
| raise SystemExit(main()) | |