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()
