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import os
import yaml
# This is a default path for localizing all the benchmark related files
libero_config_path = os.environ.get(
"LIBERO_CONFIG_PATH", os.path.expanduser("~/.libero")
)
config_file = os.path.join(libero_config_path, "config.yaml")
def get_default_path_dict(custom_location=None):
if custom_location is None:
benchmark_root_path = os.path.dirname(os.path.abspath(__file__))
else:
benchmark_root_path = custom_location
# This is a default path for localizing all the default bddl files
bddl_files_default_path = os.path.join(benchmark_root_path, "./bddl_files")
# This is a default path for localizing all the default bddl files
init_states_default_path = os.path.join(benchmark_root_path, "./init_files")
# This is a default path for localizing all the default datasets
dataset_default_path = os.path.join(benchmark_root_path, "../datasets")
# This is a default path for localizing all the default assets
assets_default_path = os.path.join(benchmark_root_path, "./assets")
return {
"benchmark_root": benchmark_root_path,
"bddl_files": bddl_files_default_path,
"init_states": init_states_default_path,
"datasets": dataset_default_path,
"assets": assets_default_path,
}
def get_libero_path(query_key):
with open(config_file, "r") as f:
config = dict(yaml.load(f.read(), Loader=yaml.FullLoader))
# Give warnings in case the user needs to access the paths
for key in config:
if not os.path.exists(config[key]):
print(f"[Warning]: {key} path {config[key]} does not exist!")
assert (
query_key in config
), f"Key {query_key} not found in config file {config_file}. You need to modify it. Available keys are: {config.keys()}"
return config[query_key]
def set_libero_default_path(custom_location=os.path.dirname(os.path.abspath(__file__))):
print(
f"[Warning] You are changing the default path for Libero config. This will affect all the paths in the config file."
)
new_config = get_default_path_dict(custom_location)
with open(config_file, "w") as f:
yaml.dump(new_config, f)
if not os.path.exists(libero_config_path):
os.makedirs(libero_config_path)
if not os.path.exists(config_file):
# Create a default config file
default_path_dict = get_default_path_dict()
# answer = input(
# "Do you want to specify a custom path for the dataset folder? (Y/N): "
# ).lower()
answer = "n"
if answer == "y":
# If the user wants to specify a custom storage path, prompt them to enter it
custom_dataset_path = input(
"Enter the path where you want to store the datasets: "
)
full_custom_dataset_path = os.path.join(
os.path.abspath(os.path.expanduser(custom_dataset_path)), "datasets"
)
# Check if the custom storage path exists, and create if it doesn't
print("The full path of the custom storage path you entered is:")
print(full_custom_dataset_path)
print("Do you want to continue? (Y/N)")
confirm_answer = input().lower()
if confirm_answer == "y":
if not os.path.exists(full_custom_dataset_path):
os.makedirs(full_custom_dataset_path)
default_path_dict["datasets"] = full_custom_dataset_path
print("Initializing the default config file...")
print(f"The following information is stored in the config file: {config_file}")
# write all the paths into a yaml file
with open(config_file, "w") as f:
yaml.dump(default_path_dict, f)
for key, value in default_path_dict.items():
print(f"{key}: {value}")
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