init

README.txt

@@ -0,0 +1,7 @@
+setup:
+1. install lis
+2. replace lis/gym_client/gym/envs/unity folder with unity folder included here
+
+for manual play:
+$> ./test.x86_64 5000 1 0 0
+

README.txt~

@@ -0,0 +1,6 @@
+setup:
+replace lis/gym_client/gym/envs/unity folder with unity folder included here
+
+for manual play:
+$> ./test.x86_64 5000 1 0 0
+

test.py

@@ -0,0 +1,52 @@
+import subprocess
+import os
+import gym
+import cv2
+import time
+import numpy as np
+import json
+
+rand = False
+
+game_processes = []
+
+# port render_freq msg_freq server
+game_processes.append(subprocess.Popen("./test.x86_64 5000 50 10 1", shell=True, stdout=subprocess.PIPE, preexec_fn=os.setsid))
+
+time.sleep(7)
+
+game = gym.make('Lis-v2')
+game.configure("5000")
+
+def get_extra(obs):
+    data = str(bytearray(obs["extra"]))
+    obj = json.loads(data)
+
+    return obj
+
+for i in range(1000):
+    # prepare
+    observation, _, _, _ = game.step("-1 -1 -1")
+
+    obj = get_extra(observation)
+    loc = np.array(obj["coords"]).flatten()
+
+    print("true initial coordinates: %s" % loc)
+
+    cv2.imshow("frame", np.array(observation["image"][0])[:,:,[2,1,0]])
+    cv2.waitKey(1)
+
+    # act
+    if rand:
+        x = np.random.uniform(-5, 5, 2)
+    else:
+        x = [loc[0], loc[2]]
+
+    new_observation, reward, end_episode, _ = game.step("%s %s 1" % (x[0], x[1]))
+
+    # results
+    new_obj = get_extra(new_observation)
+    print("touch sensor: %s" % new_obj["touch"])
+    print("reward: %s" % reward)
+
+    print("-"*10)