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""" |
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This is a script for creating various files frrom templates. This is to ease the process for users who want to extend LIBERO, creating new tasks. You would still need to make necessary changes based on the template to serve your own need, but the hope is that we save you much time by providing the necessar templates. |
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""" |
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import os |
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import xml.etree.ElementTree as ET |
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from libero.libero import get_libero_path |
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from libero.libero.envs.textures import get_texture_file_list |
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def create_problem_class_from_file(class_name): |
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template_source_file = os.path.join( |
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get_libero_path("benchmark_root"), "../../templates/problem_class_template.py" |
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) |
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with open(template_source_file, "r") as f: |
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lines = f.readlines() |
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new_lines = [] |
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for line in lines: |
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if "YOUR_CLASS_NAME" in line: |
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line = line.replace("YOUR_CLASS_NAME", class_name) |
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new_lines.append(line) |
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with open(f"{class_name.lower()}.py", "w") as f: |
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f.writelines(new_lines) |
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print(f"Creating class {class_name} at the file: {class_name.lower()}.py") |
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def create_scene_xml_file(scene_name): |
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"""This is just an example for you to jump start. For more advanced editing, you will need to figure out yourself. You can take a look at all the available xml files for reference.""" |
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template_source_file = os.path.join( |
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get_libero_path("benchmark_root"), "../../templates/scene_template.xml" |
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) |
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parser = ET.XMLParser(target=ET.TreeBuilder(insert_comments=True)) |
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tree = ET.parse(template_source_file, parser) |
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root = tree.getroot() |
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basic_elements = [ |
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("Floor", "texplane"), |
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("Table", "tex-table"), |
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("Table legs", "tex-table-legs"), |
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("Walls", "tex-wall"), |
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] |
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for (element_name, texture_name) in basic_elements: |
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element = root.findall('.//texture[@name="{}"]'.format(texture_name))[0] |
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type = None |
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if "floor" in element_name.lower(): |
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type = "floor" |
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elif "table" in element_name.lower(): |
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type = "table" |
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elif "wall" in element_name.lower(): |
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type = "wall" |
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texture_list = get_texture_file_list(type=type, texture_path="../") |
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for i, (texture_name, texture_file_path) in enumerate(texture_list): |
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print(f"[{i}]: {texture_name}") |
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choice = int(input(f"Please select which texture to use for {element_name}: ")) |
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element.set("file", texture_list[choice][1]) |
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tree.write(f"{scene_name}.xml", encoding="utf-8") |
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print(f"Creating scene {scene_name} at the file: {scene_name}.xml") |
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print( |
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"\n [Notice] The texture fiile paths are specified in the relative path format assuming your scene xml will be placed in the path libero/libero/assets/scenes/. " |
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) |
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return |
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def main(): |
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choices = [ |
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"problem_class", |
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"scene", |
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"object", |
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"arena", |
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] |
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for i, choice in enumerate(choices): |
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print(f"[{i}]: {choice}") |
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choice = int(input("Please select which file to create: ")) |
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if choices[choice] == "problem_class": |
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class_name = input("Please specify the class name: ") |
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assert " " not in class_name, "space is not allowed in the naming" |
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parts = class_name.split("_") |
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class_name = "_".join([part.lower().capitalize() for part in parts]) |
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create_problem_class_from_file(class_name) |
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elif choices[choice] == "scene": |
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scene_name = input("Please specify the scene name: ") |
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scene_name = scene_name.lower() |
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assert " " not in scene_name, "space is not allowed in the naming" |
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create_scene_xml_file(scene_name) |
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if __name__ == "__main__": |
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main() |
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