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jade.choghari@huggingface.co
23 lines
686 B
Python
23 lines
686 B
Python
from lerobot.envs.factory import make_env, make_env_config
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from lerobot.envs.utils import add_envs_task, preprocess_observation
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from lerobot.processor.pipeline import PolicyProcessorPipeline
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from lerobot.processor.observation_processor import LiberoProcessorStep
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config = make_env_config("libero", task="libero_spatial")
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envs_dict = make_env(config)
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env = envs_dict["libero_spatial"][0]
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seed = 42
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# First rollout
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obs1, info1 = env.reset(seed=seed)
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observation = preprocess_observation(obs1)
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observation = add_envs_task(env, observation)
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libero_preprocessor = PolicyProcessorPipeline(
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steps=[
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LiberoProcessorStep(),
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]
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)
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observation = libero_preprocessor(observation)
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