from gibson.envs.husky_env import HuskyNavigateEnv from gibson.utils.play import play import argparse import os timestep = 1.0 / (1000.0) frame_skip = 1 config_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'configs', 'husky_navigate_nonviz.yaml') print(config_file) if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--config', type=str, default=config_file) args = parser.parse_args() env = HuskyNavigateEnv(is_discrete=True, config=args.config) print(env.config) play(env, zoom=4, fps=int(1.0 / (timestep * frame_skip)))
from gibson.envs.humanoid_env import HumanoidNavigateEnv from gibson.utils.play import play import os config_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'configs', 'play', 'play_humanoid_camera.yaml') print(config_file) if __name__ == '__main__': import argparse parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) args = parser.parse_args() env = HumanoidNavigateEnv(config = config_file) play(env, zoom=4)
# # pressed_keys = env.get_key_pressed() # # for key in pressed_keys: # # if key == ord(' '): # # pressed_keys = [] # # pausing = False # # processing = False # # break # # # # # # for i in range(10000): # # env.step(3) # # time.sleep(2) play(env) import numpy as np import pybullet as p from transforms3d.euler import euler2quat from gibson.core.physics.robot_bases import quatToXYZW env.reset() x_init, y_init = -10, 18.8 env.robot.robot_body.reset_position([x_init, y_init, 0.14]) env.robot.robot_body.reset_orientation( quatToXYZW(euler2quat(*[0, 0, np.pi / 3]), 'wxyz')) # if hasattr(env, 'get_keys_to_action'): keys_to_action = env.get_keys_to_action() elif hasattr(env.unwrapped, 'get_keys_to_action'): keys_to_action = env.unwrapped.get_keys_to_action()