52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
from gibson2.core.physics.robot_locomotors import Turtlebot, Husky, Ant, Humanoid, JR2, JR2_Kinova
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from gibson2.core.simulator import Simulator
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from gibson2.core.physics.scene import BuildingScene, StadiumScene
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import gibson2
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from gibson2.utils.utils import parse_config
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from gibson2.envs.base_env import BaseEnv
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from gibson2.envs.locomotor_env import NavigateRandomEnv, NavigateEnv
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from time import time
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import numpy as np
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from time import time
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import os
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from gibson2.utils.assets_utils import download_assets, download_demo_data
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download_assets()
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download_demo_data()
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def test_env():
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config_filename = os.path.join(gibson2.root_path, '../test/test_house.yaml')
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nav_env = NavigateEnv(config_file=config_filename, mode='headless')
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try:
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for j in range(2):
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nav_env.reset()
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for i in range(300): # 300 steps, 30s world time
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s = time()
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action = nav_env.action_space.sample()
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ts = nav_env.step(action)
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print(ts, 1 / (time() - s))
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if ts[2]:
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print("Episode finished after {} timesteps".format(i + 1))
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break
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finally:
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nav_env.clean()
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def test_env_reload():
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config_filename = os.path.join(gibson2.root_path, '../test/test_house.yaml')
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nav_env = NavigateEnv(config_file=config_filename, mode='headless')
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try:
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for i in range(3):
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nav_env.reload(config_filename)
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nav_env.reset()
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for i in range(300): # 300 steps, 30s world time
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s = time()
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action = nav_env.action_space.sample()
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ts = nav_env.step(action)
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print(ts, 1 / (time() - s))
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if ts[2]:
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print("Episode finished after {} timesteps".format(i + 1))
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break
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finally:
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nav_env.clean()
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