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load and save function for non-episodic replay buffers + carla improvements + network bug fixes

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itaicaspi-intel
2018-09-06 16:46:57 +03:00
parent d59a700248
commit a9bd1047c4
8 changed files with 50 additions and 18 deletions
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18
rl_coach/environments/carla_environment.py
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@@ -18,6 +18,7 @@ import random
import sys
from os import path, environ
from rl_coach.logger import screen
from rl_coach.filters.action.partial_discrete_action_space_map import PartialDiscreteActionSpaceMap
from rl_coach.filters.observation.observation_rgb_to_y_filter import ObservationRGBToYFilter
from rl_coach.filters.observation.observation_to_uint8_filter import ObservationToUInt8Filter
@@ -25,6 +26,8 @@ from rl_coach.filters.observation.observation_to_uint8_filter import Observation
try:
if 'CARLA_ROOT' in environ:
sys.path.append(path.join(environ.get('CARLA_ROOT'), 'PythonClient'))
else:
screen.error("CARLA_ROOT was not defined. Please set it to point to the CARLA root directory and try again.")
from carla.client import CarlaClient
from carla.settings import CarlaSettings
from carla.tcp import TCPConnectionError
@@ -237,25 +240,28 @@ class CarlaEnvironment(Environment):
# add a front facing camera
if CameraTypes.FRONT in cameras:
camera = Camera(CameraTypes.FRONT.value)
camera.set(FOV=100)
camera.set_image_size(camera_width, camera_height)
camera.set_position(0.2, 0, 1.3)
camera.set_rotation(8, 0, 0)
camera.set_position(2.0, 0, 1.4)
camera.set_rotation(-15.0, 0, 0)
settings.add_sensor(camera)
# add a left facing camera
if CameraTypes.LEFT in cameras:
camera = Camera(CameraTypes.LEFT.value)
camera.set(FOV=100)
camera.set_image_size(camera_width, camera_height)
camera.set_position(0.2, 0, 1.3)
camera.set_rotation(8, -30, 0)
camera.set_position(2.0, 0, 1.4)
camera.set_rotation(-15.0, -30, 0)
settings.add_sensor(camera)
# add a right facing camera
if CameraTypes.RIGHT in cameras:
camera = Camera(CameraTypes.RIGHT.value)
camera.set(FOV=100)
camera.set_image_size(camera_width, camera_height)
camera.set_position(0.2, 0, 1.3)
camera.set_rotation(8, 30, 0)
camera.set_position(2.0, 0, 1.4)
camera.set_rotation(-15.0, 30, 0)
settings.add_sensor(camera)
# add a front facing depth camera