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using the CoRL2017 experiment suite for CARLA_CIL

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itaicaspi-intel
2018-09-13 16:59:22 +03:00
parent 06c969951e
commit e8a2b679d1
6 changed files with 44 additions and 28 deletions
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40
rl_coach/environments/carla_environment.py
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@@ -34,6 +34,7 @@ try:
from carla.sensor import Camera
from carla.client import VehicleControl
from carla.planner.planner import Planner
from carla.driving_benchmark.experiment_suites.experiment_suite import ExperimentSuite
except ImportError:
from rl_coach.logger import failed_imports
failed_imports.append("CARLA")
@@ -103,7 +104,8 @@ class CarlaEnvironmentParameters(EnvironmentParameters):
self.server_width = 720
self.camera_height = 128
self.camera_width = 180
self.config = None #'environments/CarlaSettings.ini' # TODO: remove the config to prevent confusion
self.experiment_suite = None # an optional CARLA experiment suite to use
self.config = None
self.level = 'town1'
self.quality = self.Quality.LOW
self.cameras = [CameraTypes.FRONT]
@@ -126,7 +128,7 @@ class CarlaEnvironment(Environment):
seed: int, frame_skip: int, human_control: bool, custom_reward_threshold: Union[int, float],
visualization_parameters: VisualizationParameters,
server_height: int, server_width: int, camera_height: int, camera_width: int,
verbose: bool, config: str, episode_max_time: int,
verbose: bool, experiment_suite: ExperimentSuite, config: str, episode_max_time: int,
allow_braking: bool, quality: CarlaEnvironmentParameters.Quality,
cameras: List[CameraTypes], weather_id: List[int], experiment_path: str,
num_speedup_steps: int, max_speed: float, **kwargs):
@@ -161,6 +163,7 @@ class CarlaEnvironment(Environment):
high=255)
# setup server settings
self.experiment_suite = experiment_suite
self.config = config
if self.config:
# load settings from file
@@ -191,12 +194,17 @@ class CarlaEnvironment(Environment):
# open the client
self.game = CarlaClient(self.host, self.port, timeout=99999999)
self.game.connect()
scene = self.game.load_settings(self.settings)
if self.experiment_suite:
self.current_experiment = self.experiment_suite.get_experiments()[0]
scene = self.game.load_settings(self.current_experiment.conditions)
else:
scene = self.game.load_settings(self.settings)
# get available start positions
self.positions = scene.player_start_spots
self.num_pos = len(self.positions)
self.iterator_start_positions = 0
self.num_positions = len(self.positions)
self.current_start_position_idx = 0
self.current_pose = 0
# action space
self.action_space = BoxActionSpace(shape=2, low=np.array([-1, -1]), high=np.array([1, 1]))
@@ -391,18 +399,24 @@ class CarlaEnvironment(Environment):
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
# select start and end positions
if self.experiment_suite:
# if an expeirent suite is available, follow its given poses
self.current_start_position_idx = self.current_experiment.poses[self.current_pose][0]
self.current_goal = self.current_experiment.poses[self.current_pose][1]
self.current_pose += 1
else:
# go over all the possible positions in a cyclic manner
self.current_start_position_idx = (self.current_start_position_idx + 1) % self.num_positions
# choose a random goal destination TODO: follow the CoRL destinations and start positions
self.current_goal = random.choice(self.positions)
try:
self.game.start_episode(self.iterator_start_positions)
self.game.start_episode(self.current_start_position_idx)
except:
self.game.connect()
self.game.start_episode(self.iterator_start_positions)
# choose a random goal destination TODO: follow the CoRL destinations and start positions
self.current_goal = random.choice(self.positions)
self.game.start_episode(self.current_start_position_idx)
# start the game with some initial speed
for i in range(self.num_speedup_steps):