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()