-
Notifications
You must be signed in to change notification settings - Fork 3
/
test_lidar_based.py
70 lines (57 loc) · 2.41 KB
/
test_lidar_based.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
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
from gym.core import ObservationWrapper, ActionWrapper
from gym import spaces
import numpy as np
from navrep.envs.navreptrainencodedenv import NavRepTrainEncoder
from navrep.scripts.test_navrep import NavRepCPolicy, run_test_episodes
from strictfire import StrictFire
from navdreams.navrep3dtrainenv import NavRep3DTrainEnv
class NavRep3DTrainEnvLidarBased(NavRep3DTrainEnv):
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.output_lidar = True
self.observation_space = spaces.Tuple((
spaces.Box(low=-np.inf, high=np.inf, shape=(1080,), dtype=np.float32),
spaces.Box(low=-np.inf, high=np.inf, shape=(5,), dtype=np.float32)
))
class NavRepEncodedEnvWrapper(ObservationWrapper):
""" takes a (2) action as input
outputs encoded obs (546) """
def __init__(self, env, backend="GPT", encoding="V_ONLY",
gpu=False, shared_encoder=None, encoder=None):
super().__init__(env)
if encoder is None:
encoder = NavRepTrainEncoder(backend, encoding,
gpu=gpu, encoder_to_share_model_with=shared_encoder)
self.encoder = encoder
self.observation_space = self.encoder.observation_space
def observation(self, obs):
action = self.unwrapped.last_action
h = self.encoder._encode_obs(obs, action)
return h
def reset(self, *args, **kwargs):
self.encoder.reset()
return super(NavRepEncodedEnvWrapper, self).reset(*args, **kwargs)
def close(self):
self.encoder.close()
return super(NavRepEncodedEnvWrapper, self).close()
class NavRepNoRotActionWrapper(ActionWrapper):
def __init__(self, env):
super(NavRepNoRotActionWrapper, self).__init__(env)
self.action_space = spaces.Box(low=-1, high=1, shape=(2,), dtype=np.float32)
def action(self, action):
action = np.array([action[0], action[1], 0.]) # no rotation
return action
def reverse_action(self, action):
action = np.array([action[0], action[1]]) # no rotation
return action
def get_dt(*args, **kwargs):
return 0.2
def main(render=False):
env = NavRep3DTrainEnvLidarBased()
env = NavRepEncodedEnvWrapper(env)
env = NavRepNoRotActionWrapper(env)
env._get_dt = get_dt
policy = NavRepCPolicy()
run_test_episodes(env, policy, render=render)
if __name__ == "__main__":
StrictFire(main)