def test_env():
config_filename = os.path.join(gibson2.root_path, '../test/test_house.yaml')
nav_env = NavigateEnv(config_file=config_filename, mode='headless')
try:
for j in range(2):
nav_env.reset()
for i in range(300): # 300 steps, 30s world time
s = time()
action = nav_env.action_space.sample()
ts = nav_env.step(action)
print(ts, 1 / (time() - s))
if ts[2]:
print("Episode finished after {} timesteps".format(i + 1))
break
finally:
nav_env.clean()
def test_env():
config_filename = os.path.join(os.path.dirname(gibson2.__file__),
'../test/goggle.yaml')
nav_env = NavigateEnv(config_file=config_filename, mode='gui')
for j in range(2):
nav_env.reset()
for i in range(10): # 10 steps, 1s world time
s = time()
action = nav_env.action_space.sample()
ts = nav_env.step(action)
if 'rgb_filled' in ts[0]:
cv2.imshow(
'filled',
cv2.cvtColor(
np.concatenate([ts[0]['rgb'], ts[0]['rgb_filled']],
axis=1), cv2.COLOR_RGB2BGR))
cv2.waitKey(1)
print(ts[1:], 1 / (time() - s))
if ts[2]:
print("Episode finished after {} timesteps".format(i + 1))
break
nav_env.clean()