def run_demo(self):
config = parse_config(os.path.join(gibson2.assets_path, 'example_configs/turtlebot_demo.yaml'))
s = Simulator(mode='gui', image_width=700, image_height=700)
scene = BuildingScene('Rs_interactive', is_interactive=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
for i in range(10000):
turtlebot.apply_action([0.1,0.5])
s.step()
s.disconnect()
def benchmark(render_to_tensor=False, resolution=512):
config = parse_config('../configs/turtlebot_demo.yaml')
s = Simulator(mode='headless', image_width=resolution, image_height=resolution, render_to_tensor=render_to_tensor)
scene = BuildingScene('Rs',
build_graph=True,
pybullet_load_texture=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
n_frame = 500
start = time.time()
for i in range(n_frame):
turtlebot.apply_action([0.1,0.1])
s.step()
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
physics_render_elapsed = time.time() - start
print("physics simulation + rendering rgb, resolution {}, render_to_tensor {}: {} fps".format(resolution,
render_to_tensor,
n_frame/physics_render_elapsed))
start = time.time()
for i in range(n_frame):
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
render_elapsed = time.time() - start
print("Rendering rgb, resolution {}, render_to_tensor {}: {} fps".format(resolution, render_to_tensor,
n_frame/render_elapsed))
start = time.time()
for i in range(n_frame):
rgb = s.renderer.render_robot_cameras(modes=('3d'))
render_elapsed = time.time() - start
print("Rendering 3d, resolution {}, render_to_tensor {}: {} fps".format(resolution, render_to_tensor,
n_frame / render_elapsed))
start = time.time()
for i in range(n_frame):
rgb = s.renderer.render_robot_cameras(modes=('normal'))
render_elapsed = time.time() - start
print("Rendering normal, resolution {}, render_to_tensor {}: {} fps".format(resolution, render_to_tensor,
n_frame / render_elapsed))
s.disconnect()
def main():
config = parse_config('../configs/turtlebot_demo.yaml')
s = Simulator(mode='gui', image_width=512, image_height=512)
scene = BuildingScene('Rs', build_graph=True, pybullet_load_texture=True)
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
for _ in range(10):
obj = YCBObject('003_cracker_box')
s.import_object(obj)
obj.set_position_orientation(np.random.uniform(low=0, high=2, size=3),
[0, 0, 0, 1])
for i in range(10000):
with Profiler('Simulator step'):
turtlebot.apply_action([0.1, 0.1])
s.step()
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
s.disconnect()
import yaml
from gibson2.core.physics.robot_locomotors import Turtlebot
from gibson2.core.simulator import Simulator
from gibson2.core.physics.scene import BuildingScene, StadiumScene
from gibson2.utils.utils import parse_config
import pytest
import pybullet as p
import numpy as np
from gibson2.core.render.profiler import Profiler
config = parse_config('../configs/turtlebot_p2p_nav.yaml')
s = Simulator(mode='gui', resolution=512, render_to_tensor=False)
scene = BuildingScene('Bolton')
s.import_scene(scene)
turtlebot = Turtlebot(config)
s.import_robot(turtlebot)
p.resetBasePositionAndOrientation(scene.ground_plane_mjcf[0],
posObj=[0, 0, -10],
ornObj=[0, 0, 0, 1])
for i in range(2000):
with Profiler('simulator step'):
turtlebot.apply_action([0.1, 0.1])
s.step()
rgb = s.renderer.render_robot_cameras(modes=('rgb'))
s.disconnect()