37 lines
976 B
Python
37 lines
976 B
Python
"""
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Test Robomimic rendering, no GUI
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"""
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import os
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import time
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from gym import spaces
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import robosuite as suite
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os.environ["MUJOCO_GL"] = "egl"
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if __name__ == "__main__":
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env = suite.make(
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env_name="TwoArmTransport",
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robots=["Panda", "Panda"],
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has_renderer=False,
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has_offscreen_renderer=True,
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use_camera_obs=True,
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camera_heights=96,
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camera_widths=96,
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camera_names="shouldercamera0",
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render_gpu_device_id=0,
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horizon=20,
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)
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obs, done = env.reset(), False
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print("Finished resetting!")
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low, high = env.action_spec
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action_space = spaces.Box(low=low, high=high)
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steps, time_stamp = 0, time.time()
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while True:
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while not done:
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obs, reward, done, info = env.step(action_space.sample())
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steps += 1
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obs, done = env.reset(), False
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print(f"FPS: {steps / (time.time() - time_stamp)}")
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steps, time_stamp = 0, time.time()
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