Examples of navigation tasks

Point2Point Navigation

config_filename = os.path.join(os.path.dirname(gibson2.__file__),'../examples/configs/turtlebot_p2p_nav.yaml')
nav_env = NavigateEnv(config_file=config_filename,
  mode=args.mode,
  action_timestep=1.0 / 10.0,
  physics_timestep=1.0 / 40.0)

for episode in range(10):
    print('Episode: {}'.format(episode))
    nav_env.reset()
    for step in range(500):  # 500 steps, 50s world time
        action = nav_env.action_space.sample()
        state, reward, done, _ = nav_env.step(action)

Interactive Navigation - Door opening

config_filename = os.path.join(os.path.dirname(gibson2.__file__),'../examples/configs/jr2_interactive_nav.yaml')
nav_env = InteractiveNavigateEnv(config_file=config_filename,
  mode=args.mode,
  action_timestep=1.0 / 10.0,
  physics_timestep=1.0 / 40.0)

for episode in range(10):
    print('Episode: {}'.format(episode))
    nav_env.reset()
    for step in range(500):  # 500 steps, 50s world time
        action = nav_env.action_space.sample()
        state, reward, done, _ = nav_env.step(action)

Interactive Navigation - Among movable objects

config_filename = os.path.join(os.path.dirname(gibson2.__file__),'../examples/configs/turtlebot_p2p_nav.yaml')
nav_env = InteractiveGibsonNavigateEnv(config_file=config_filename,
  mode=args.mode,
  action_timestep=1.0 / 10.0,
  physics_timestep=1.0 / 40.0)

for episode in range(10):
    print('Episode: {}'.format(episode))
    nav_env.reset()
    for step in range(500):  # 500 steps, 50s world time
        action = nav_env.action_space.sample()
        state, reward, done, _ = nav_env.step(action)