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import os
from termcolor import colored
import cv2
import h5py
import argparse
import numpy as np
from libero.libero.envs import OffScreenRenderEnv
from libero.libero import benchmark, get_libero_path
def render_task(task, bddl_file, init_states, demo_file):
env_args = {
"bddl_file_name": bddl_file,
"camera_heights": 128,
"camera_widths": 128,
}
env = OffScreenRenderEnv(**env_args)
env.reset()
obs = env.set_init_state(init_states[0])
for _ in range(5):
obs, _, _, _ = env.step([0.0] * 7)
images = [obs["agentview_image"]]
with h5py.File(demo_file, "r") as f:
states = f["data/demo_0/states"][()]
obs = env.set_init_state(states[-1])
images.append(obs["agentview_image"])
images = np.concatenate(images, axis=1)
cv2.imwrite(
f"benchmark_tasks/{task.problem}-{task.language}.png", images[::-1, :, ::-1]
)
env.close()
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--benchmark_name", type=str)
parser.add_argument("--task_id", type=int, default=0)
parser.add_argument("--bddl_file", type=str)
parser.add_argument("--demo_file", type=str)
args = parser.parse_args()
benchmark_name = args.benchmark_name
task_id = args.task_id
bddl_file = args.bddl_file
demo_file = args.demo_file
benchmark_instance = benchmark.get_benchmark_dict()[benchmark_name]()
env_args = {
"bddl_file_name": bddl_file,
"camera_heights": 128,
"camera_widths": 128,
}
os.makedirs("benchmark_tasks", exist_ok=True)
task = benchmark_instance.get_task(task_id)
init_states = benchmark_instance.get_task_init_states(task_id)
env = OffScreenRenderEnv(**env_args)
env.reset()
obs = env.set_init_state(init_states[0])
for _ in range(5):
obs, _, _, _ = env.step([0.0] * 7)
images = [obs["agentview_image"]]
with h5py.File(demo_file, "r") as f:
states = f["data/demo_0/states"][()]
obs = env.set_init_state(states[-1])
images.append(obs["agentview_image"])
images = np.concatenate(images, axis=1)
image_name = demo_file.split("/")[-1].replace(".hdf5", ".png")
cv2.imwrite(f"benchmark_tasks/{image_name}", images[::-1, :, ::-1])
env.close()
if __name__ == "__main__":
main()
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