mirror of
https://github.com/gryf/coach.git
synced 2025-12-17 11:10:20 +01:00
Release 0.9
Main changes are detailed below: New features - * CARLA 0.7 simulator integration * Human control of the game play * Recording of human game play and storing / loading the replay buffer * Behavioral cloning agent and presets * Golden tests for several presets * Selecting between deep / shallow image embedders * Rendering through pygame (with some boost in performance) API changes - * Improved environment wrapper API * Added an evaluate flag to allow convenient evaluation of existing checkpoints * Improve frameskip definition in Gym Bug fixes - * Fixed loading of checkpoints for agents with more than one network * Fixed the N Step Q learning agent python3 compatibility
This commit is contained in:
Itai Caspi
230
environments/carla_environment_wrapper.py
Normal file
230
environments/carla_environment_wrapper.py
Normal file
@@ -0,0 +1,230 @@
|
||||
import sys
|
||||
from os import path, environ
|
||||
|
||||
try:
|
||||
sys.path.append(path.join(environ.get('CARLA_ROOT'), 'PythonClient'))
|
||||
from carla.client import CarlaClient
|
||||
from carla.settings import CarlaSettings
|
||||
from carla.tcp import TCPConnectionError
|
||||
from carla.sensor import Camera
|
||||
from carla.client import VehicleControl
|
||||
except ImportError:
|
||||
from logger import failed_imports
|
||||
failed_imports.append("CARLA")
|
||||
|
||||
import numpy as np
|
||||
import time
|
||||
import logging
|
||||
import subprocess
|
||||
import signal
|
||||
from environments.environment_wrapper import EnvironmentWrapper
|
||||
from utils import *
|
||||
from logger import screen, logger
|
||||
from PIL import Image
|
||||
|
||||
|
||||
# enum of the available levels and their path
|
||||
class CarlaLevel(Enum):
|
||||
TOWN1 = "/Game/Maps/Town01"
|
||||
TOWN2 = "/Game/Maps/Town02"
|
||||
|
||||
key_map = {
|
||||
'BRAKE': (274,), # down arrow
|
||||
'GAS': (273,), # up arrow
|
||||
'TURN_LEFT': (276,), # left arrow
|
||||
'TURN_RIGHT': (275,), # right arrow
|
||||
'GAS_AND_TURN_LEFT': (273, 276),
|
||||
'GAS_AND_TURN_RIGHT': (273, 275),
|
||||
'BRAKE_AND_TURN_LEFT': (274, 276),
|
||||
'BRAKE_AND_TURN_RIGHT': (274, 275),
|
||||
}
|
||||
|
||||
|
||||
class CarlaEnvironmentWrapper(EnvironmentWrapper):
|
||||
def __init__(self, tuning_parameters):
|
||||
EnvironmentWrapper.__init__(self, tuning_parameters)
|
||||
|
||||
self.tp = tuning_parameters
|
||||
|
||||
# server configuration
|
||||
self.server_height = self.tp.env.server_height
|
||||
self.server_width = self.tp.env.server_width
|
||||
self.port = get_open_port()
|
||||
self.host = 'localhost'
|
||||
self.map = CarlaLevel().get(self.tp.env.level)
|
||||
|
||||
# client configuration
|
||||
self.verbose = self.tp.env.verbose
|
||||
self.depth = self.tp.env.depth
|
||||
self.stereo = self.tp.env.stereo
|
||||
self.semantic_segmentation = self.tp.env.semantic_segmentation
|
||||
self.height = self.server_height * (1 + int(self.depth) + int(self.semantic_segmentation))
|
||||
self.width = self.server_width * (1 + int(self.stereo))
|
||||
self.size = (self.width, self.height)
|
||||
|
||||
self.config = self.tp.env.config
|
||||
if self.config:
|
||||
# load settings from file
|
||||
with open(self.config, 'r') as fp:
|
||||
self.settings = fp.read()
|
||||
else:
|
||||
# hard coded settings
|
||||
self.settings = CarlaSettings()
|
||||
self.settings.set(
|
||||
SynchronousMode=True,
|
||||
SendNonPlayerAgentsInfo=False,
|
||||
NumberOfVehicles=15,
|
||||
NumberOfPedestrians=30,
|
||||
WeatherId=1)
|
||||
self.settings.randomize_seeds()
|
||||
|
||||
# add cameras
|
||||
camera = Camera('CameraRGB')
|
||||
camera.set_image_size(self.width, self.height)
|
||||
camera.set_position(200, 0, 140)
|
||||
camera.set_rotation(0, 0, 0)
|
||||
self.settings.add_sensor(camera)
|
||||
|
||||
# open the server
|
||||
self.server = self._open_server()
|
||||
|
||||
logging.disable(40)
|
||||
|
||||
# open the client
|
||||
self.game = CarlaClient(self.host, self.port, timeout=99999999)
|
||||
self.game.connect()
|
||||
scene = self.game.load_settings(self.settings)
|
||||
|
||||
# get available start positions
|
||||
positions = scene.player_start_spots
|
||||
self.num_pos = len(positions)
|
||||
self.iterator_start_positions = 0
|
||||
|
||||
# action space
|
||||
self.discrete_controls = False
|
||||
self.action_space_size = 2
|
||||
self.action_space_high = [1, 1]
|
||||
self.action_space_low = [-1, -1]
|
||||
self.action_space_abs_range = np.maximum(np.abs(self.action_space_low), np.abs(self.action_space_high))
|
||||
self.steering_strength = 0.5
|
||||
self.gas_strength = 1.0
|
||||
self.brake_strength = 0.5
|
||||
self.actions = {0: [0., 0.],
|
||||
1: [0., -self.steering_strength],
|
||||
2: [0., self.steering_strength],
|
||||
3: [self.gas_strength, 0.],
|
||||
4: [-self.brake_strength, 0],
|
||||
5: [self.gas_strength, -self.steering_strength],
|
||||
6: [self.gas_strength, self.steering_strength],
|
||||
7: [self.brake_strength, -self.steering_strength],
|
||||
8: [self.brake_strength, self.steering_strength]}
|
||||
self.actions_description = ['NO-OP', 'TURN_LEFT', 'TURN_RIGHT', 'GAS', 'BRAKE',
|
||||
'GAS_AND_TURN_LEFT', 'GAS_AND_TURN_RIGHT',
|
||||
'BRAKE_AND_TURN_LEFT', 'BRAKE_AND_TURN_RIGHT']
|
||||
for idx, action in enumerate(self.actions_description):
|
||||
for key in key_map.keys():
|
||||
if action == key:
|
||||
self.key_to_action[key_map[key]] = idx
|
||||
self.num_speedup_steps = 30
|
||||
|
||||
# measurements
|
||||
self.measurements_size = (1,)
|
||||
self.autopilot = None
|
||||
|
||||
# env initialization
|
||||
self.reset(True)
|
||||
|
||||
# render
|
||||
if self.is_rendered:
|
||||
image = self.get_rendered_image()
|
||||
self.renderer.create_screen(image.shape[1], image.shape[0])
|
||||
|
||||
def _open_server(self):
|
||||
log_path = path.join(logger.experiments_path, "CARLA_LOG_{}.txt".format(self.port))
|
||||
with open(log_path, "wb") as out:
|
||||
cmd = [path.join(environ.get('CARLA_ROOT'), 'CarlaUE4.sh'), self.map,
|
||||
"-benchmark", "-carla-server", "-fps=10", "-world-port={}".format(self.port),
|
||||
"-windowed -ResX={} -ResY={}".format(self.server_width, self.server_height),
|
||||
"-carla-no-hud"]
|
||||
if self.config:
|
||||
cmd.append("-carla-settings={}".format(self.config))
|
||||
p = subprocess.Popen(cmd, stdout=out, stderr=out)
|
||||
|
||||
return p
|
||||
|
||||
def _close_server(self):
|
||||
os.killpg(os.getpgid(self.server.pid), signal.SIGKILL)
|
||||
|
||||
def _update_state(self):
|
||||
# get measurements and observations
|
||||
measurements = []
|
||||
while type(measurements) == list:
|
||||
measurements, sensor_data = self.game.read_data()
|
||||
self.observation = sensor_data['CameraRGB'].data
|
||||
|
||||
self.location = (measurements.player_measurements.transform.location.x,
|
||||
measurements.player_measurements.transform.location.y,
|
||||
measurements.player_measurements.transform.location.z)
|
||||
|
||||
is_collision = measurements.player_measurements.collision_vehicles != 0 \
|
||||
or measurements.player_measurements.collision_pedestrians != 0 \
|
||||
or measurements.player_measurements.collision_other != 0
|
||||
|
||||
speed_reward = measurements.player_measurements.forward_speed - 1
|
||||
if speed_reward > 30.:
|
||||
speed_reward = 30.
|
||||
self.reward = speed_reward \
|
||||
- (measurements.player_measurements.intersection_otherlane * 5) \
|
||||
- (measurements.player_measurements.intersection_offroad * 5) \
|
||||
- is_collision * 100 \
|
||||
- np.abs(self.control.steer) * 10
|
||||
|
||||
# update measurements
|
||||
self.measurements = [measurements.player_measurements.forward_speed]
|
||||
self.autopilot = measurements.player_measurements.autopilot_control
|
||||
|
||||
# action_p = ['%.2f' % member for member in [self.control.throttle, self.control.steer]]
|
||||
# screen.success('REWARD: %.2f, ACTIONS: %s' % (self.reward, action_p))
|
||||
|
||||
if (measurements.game_timestamp >= self.tp.env.episode_max_time) or is_collision:
|
||||
# screen.success('EPISODE IS DONE. GameTime: {}, Collision: {}'.format(str(measurements.game_timestamp),
|
||||
# str(is_collision)))
|
||||
self.done = True
|
||||
|
||||
def _take_action(self, action_idx):
|
||||
if type(action_idx) == int:
|
||||
action = self.actions[action_idx]
|
||||
else:
|
||||
action = action_idx
|
||||
self.last_action_idx = action
|
||||
|
||||
self.control = VehicleControl()
|
||||
self.control.throttle = np.clip(action[0], 0, 1)
|
||||
self.control.steer = np.clip(action[1], -1, 1)
|
||||
self.control.brake = np.abs(np.clip(action[0], -1, 0))
|
||||
if not self.tp.env.allow_braking:
|
||||
self.control.brake = 0
|
||||
self.control.hand_brake = False
|
||||
self.control.reverse = False
|
||||
|
||||
self.game.send_control(self.control)
|
||||
|
||||
def _restart_environment_episode(self, force_environment_reset=False):
|
||||
self.iterator_start_positions += 1
|
||||
if self.iterator_start_positions >= self.num_pos:
|
||||
self.iterator_start_positions = 0
|
||||
|
||||
try:
|
||||
self.game.start_episode(self.iterator_start_positions)
|
||||
except:
|
||||
self.game.connect()
|
||||
self.game.start_episode(self.iterator_start_positions)
|
||||
|
||||
# start the game with some initial speed
|
||||
observation = None
|
||||
for i in range(self.num_speedup_steps):
|
||||
observation = self.step([1.0, 0])['observation']
|
||||
self.observation = observation
|
||||
|
||||
return observation
|
||||
|
||||
Reference in New Issue
Block a user