-
Notifications
You must be signed in to change notification settings - Fork 0
/
launch_gibson_turtlebot.py
25 lines (17 loc) · 1.06 KB
/
launch_gibson_turtlebot.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
from gibson.envs.mobile_robots_env import TurtlebotNavigateEnv
import argparse
from gibson.utils.play import play
from gibson_env_utilities.gibson_run_config import GibsonConfigRun
# Matterport world without semantic
#config_file = GibsonConfigRun(simulation_env=TurtlebotNavigateEnv, world_name='house1', floor=0).remove_semantics().is_discrete(True).write_to_file()
# Matterport world with semantic information (Semantic Label to Color Coding)
#config_file = GibsonConfigRun(simulation_env=TurtlebotNavigateEnv, world_name='house1', floor=0).is_discrete(True).write_to_file()
# Stanford environment with semantic data (Instance-by-Instance Color Coding)
config_file = GibsonConfigRun(simulation_env=TurtlebotNavigateEnv, world_name='space7', floor=0).is_discrete(True).set_semantics_to_random_color().write_to_file()
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--config', type=str, default=config_file)
args = parser.parse_args()
env = TurtlebotNavigateEnv(config=config_file)
print(env.config)
play(env, zoom=4)