| 263 | |
| 264 | class GSBridge: |
| 265 | def __init__(self, env_name): |
| 266 | self.env_name = env_name |
| 267 | self._sim_thread = threading.Thread(target=self._init_gs_sim) |
| 268 | self._sim_thread.start() |
| 269 | self.url = "http://localhost:18080/render" |
| 270 | time.sleep(10) |
| 271 | |
| 272 | self.distance_to_goal = [] |
| 273 | self.spl = [] |
| 274 | self.success = [] |
| 275 | self.traj_len = 0 |
| 276 | self.pass_len = 1e-3 |
| 277 | self.osr = [] |
| 278 | |
| 279 | def print_info(self): |
| 280 | print(f"SR: {self.success[-1]}, OSR: {self.osr[-1]}, NE: {self.distance_to_goal[-1]}, SPL: {self.spl[-1]}") |