From bb76c5c726b9c59c2406f76f509e3bfab0b5abc7 Mon Sep 17 00:00:00 2001 From: itaicaspi-intel Date: Sun, 16 Sep 2018 16:37:04 +0300 Subject: [PATCH] CARLA cleanups + calculating the distance to goal --- .gitignore | 4 ++++ rl_coach/environments/carla_environment.py | 5 +++-- rl_coach/utilities/carla_dataset_to_replay_buffer.py | 6 +----- 3 files changed, 8 insertions(+), 7 deletions(-) diff --git a/.gitignore b/.gitignore index 5349619..5b6c668 100644 --- a/.gitignore +++ b/.gitignore @@ -21,3 +21,7 @@ contrib test_log_* dist datasets +.cache +.pytest_cache +core +trace_test* diff --git a/rl_coach/environments/carla_environment.py b/rl_coach/environments/carla_environment.py index 49e79d9..195a215 100644 --- a/rl_coach/environments/carla_environment.py +++ b/rl_coach/environments/carla_environment.py @@ -359,6 +359,9 @@ class CarlaEnvironment(Environment): measurements.player_measurements.transform.location.y, measurements.player_measurements.transform.location.z] + self.distance_from_goal = np.linalg.norm(np.array(self.location[:2]) - + [self.current_goal.location.x, self.current_goal.location.y]) + is_collision = measurements.player_measurements.collision_vehicles != 0 \ or measurements.player_measurements.collision_pedestrians != 0 \ or measurements.player_measurements.collision_other != 0 @@ -381,8 +384,6 @@ class CarlaEnvironment(Environment): self.state['high_level_command'] = directions if (measurements.game_timestamp >= self.episode_max_time) or is_collision: - # screen.success('EPISODE IS DONE. GameTime: {}, Collision: {}'.format(str(measurements.game_timestamp), - # str(is_collision))) self.done = True self.state['measurements'] = np.array(self.measurements) diff --git a/rl_coach/utilities/carla_dataset_to_replay_buffer.py b/rl_coach/utilities/carla_dataset_to_replay_buffer.py index 5c48c77..01f2899 100644 --- a/rl_coach/utilities/carla_dataset_to_replay_buffer.py +++ b/rl_coach/utilities/carla_dataset_to_replay_buffer.py @@ -71,10 +71,6 @@ def create_dataset(dataset_root, output_path): observations = train_set['rgb'][:] # forward camera measurements = np.expand_dims(train_set['targets'][:, 10], -1) # forward speed actions = train_set['targets'][:, :3] # steer, gas, brake - # actions[:, :2] = actions[:, 1:3] - # actions[:, 2] = train_set['targets'][:, 0] # gas, brake, steer - # actions[:, 1] -= actions[:, 2] - # actions = actions[:, :2][:, ::-1] high_level_commands = train_set['targets'][:, 24].astype('int') - 2 # follow lane, left, right, straight @@ -104,4 +100,4 @@ if __name__ == "__main__": default='carla_train_set_replay_buffer.p') args = argparser.parse_args() - create_dataset(args.dataset_root, args.output_path) \ No newline at end of file + create_dataset(args.dataset_root, args.output_path)