Trace tests update

rl_coach/environments/carla_environment.py

@@ -106,7 +106,7 @@ class CarlaEnvironment(Environment):
                  server_height: int, server_width: int, camera_height: int, camera_width: int,
                  verbose: bool, config: str, episode_max_time: int,
                  allow_braking: bool, quality: CarlaEnvironmentParameters.Quality,
-                 cameras: List[CameraTypes], weather_id: List[int], **kwargs):
+                 cameras: List[CameraTypes], weather_id: List[int], experiment_path: str, **kwargs):
         super().__init__(level, seed, frame_skip, human_control, custom_reward_threshold, visualization_parameters)
 
         # server configuration
@@ -115,6 +115,7 @@ class CarlaEnvironment(Environment):
         self.port = get_open_port()
         self.host = 'localhost'
         self.map = self.env_id
+        self.experiment_path = experiment_path
 
         # client configuration
         self.verbose = verbose
@@ -150,8 +151,11 @@ class CarlaEnvironment(Environment):
                 NumberOfVehicles=15,
                 NumberOfPedestrians=30,
                 WeatherId=random.choice(force_list(self.weather_id)),
-                QualityLevel=self.quality.value)
-            self.settings.randomize_seeds()
+                QualityLevel=self.quality.value,
+                SeedVehicles=seed,
+                SeedPedestrians=seed)
+            if seed is None:
+                self.settings.randomize_seeds()
 
             self.settings = self._add_cameras(self.settings, self.cameras, self.camera_width, self.camera_height)
 
@@ -260,8 +264,10 @@ class CarlaEnvironment(Environment):
         return settings
 
     def _open_server(self):
-        # TODO: get experiment path
-        log_path = path.join('./logs/', "CARLA_LOG_{}.txt".format(self.port))
+        log_path = path.join(self.experiment_path if self.experiment_path is not None else '.', 'logs',
+                             "CARLA_LOG_{}.txt".format(self.port))
+        if not os.path.exists(os.path.dirname(log_path)):
+            os.makedirs(os.path.dirname(log_path))
         with open(log_path, "wb") as out:
             cmd = [path.join(environ.get('CARLA_ROOT'), 'CarlaUE4.sh'), self.map,
                    "-benchmark", "-carla-server", "-fps={}".format(30 / self.frame_skip),

rl_coach/environments/control_suite_environment.py

@@ -75,7 +75,7 @@ class ControlSuiteEnvironment(Environment):
 
         # load and initialize environment
         domain_name, task_name = self.env_id.split(":")
-        self.env = suite.load(domain_name=domain_name, task_name=task_name)
+        self.env = suite.load(domain_name=domain_name, task_name=task_name, task_kwargs={'random': seed})
 
         if observation_type != ObservationType.Measurements:
             self.env = pixels.Wrapper(self.env, pixels_only=observation_type == ObservationType.Image)

rl_coach/environments/environment.py

@@ -101,6 +101,7 @@ class EnvironmentParameters(Parameters):
         self.custom_reward_threshold = None
         self.default_input_filter = None
         self.default_output_filter = None
+        self.experiment_path = None
 
     @property
     def path(self):