wip

scripts/kitchen_precompute_prm.py

@@ -0,0 +1,31 @@
+"""Precompute a PRM-ish database for free space moving in the kitchen env."""
+
+import numpy as np
+
+from predicators.envs.kitchen import KitchenEnv
+from predicators import utils
+
+
+def _main() -> None:
+    utils.reset_config({
+        "env": "kitchen",
+        "num_train_tasks": 1,
+        "num_test_tasks": 0,
+    })
+    env = KitchenEnv()
+    # Set up initial state with kettle out of the way.
+    env.reset("train", 0)
+    gym_env = env._gym_env
+
+    joint_state, _ = gym_env.get_env_state()
+    joint_state[23:26] = -100  # kettle, way off screen
+    gym_env.sim.set_state(joint_state)
+    gym_env.sim.forward()
+
+    gym_env.step(np.zeros(9))
+    gym_env.render()
+    import time; time.sleep(5)
+
+
+if __name__ == "__main__":
+    _main()