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updated CARLA to allow the usage of predefined experiment suites

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This commit is contained in:
itaicaspi-intel
2018-09-14 18:07:24 +03:00
parent e8a2b679d1
commit f8d3574b8c
3 changed files with 37 additions and 23 deletions
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48
rl_coach/environments/carla_environment.py
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@@ -153,15 +153,6 @@ class CarlaEnvironment(Environment):
self.camera_width = camera_width
self.camera_height = camera_height
# state space
self.state_space = StateSpace({
"measurements": VectorObservationSpace(4, measurements_names=["forward_speed", "x", "y", "z"])
})
for camera in self.cameras:
self.state_space[camera.value] = ImageObservationSpace(
shape=np.array([self.camera_height, self.camera_width, 3]),
high=255)
# setup server settings
self.experiment_suite = experiment_suite
self.config = config
@@ -195,17 +186,27 @@ class CarlaEnvironment(Environment):
self.game = CarlaClient(self.host, self.port, timeout=99999999)
self.game.connect()
if self.experiment_suite:
self.current_experiment = self.experiment_suite.get_experiments()[0]
scene = self.game.load_settings(self.current_experiment.conditions)
self.current_experiment_idx = 0
self.current_experiment = self.experiment_suite.get_experiments()[self.current_experiment_idx]
self.scene = self.game.load_settings(self.current_experiment.conditions)
else:
scene = self.game.load_settings(self.settings)
self.scene = self.game.load_settings(self.settings)
# get available start positions
self.positions = scene.player_start_spots
self.positions = self.scene.player_start_spots
self.num_positions = len(self.positions)
self.current_start_position_idx = 0
self.current_pose = 0
# state space
self.state_space = StateSpace({
"measurements": VectorObservationSpace(4, measurements_names=["forward_speed", "x", "y", "z"])
})
for camera in self.scene.sensors:
self.state_space[camera.name] = ImageObservationSpace(
shape=np.array([self.camera_height, self.camera_width, 3]),
high=255)
# action space
self.action_space = BoxActionSpace(shape=2, low=np.array([-1, -1]), high=np.array([1, 1]))
@@ -342,8 +343,8 @@ class CarlaEnvironment(Environment):
measurements, sensor_data = self.game.read_data()
self.state = {}
for camera in self.cameras:
self.state[camera.value] = sensor_data[camera.value].data
for camera in self.scene.sensors:
self.state[camera.name] = sensor_data[camera.name].data
self.location = [measurements.player_measurements.transform.location.x,
measurements.player_measurements.transform.location.y,
@@ -398,12 +399,25 @@ class CarlaEnvironment(Environment):
self.game.send_control(self.control)
def _load_experiment(self, experiment_idx):
self.current_experiment = self.experiment_suite.get_experiments()[experiment_idx]
self.scene = self.game.load_settings(self.current_experiment.conditions)
self.positions = self.scene.player_start_spots
self.num_positions = len(self.positions)
self.current_start_position_idx = 0
self.current_pose = 0
def _restart_environment_episode(self, force_environment_reset=False):
# select start and end positions
if self.experiment_suite:
# if an expeirent suite is available, follow its given poses
if self.current_pose >= len(self.current_experiment.poses):
# load a new experiment
self.current_experiment_idx = (self.current_experiment_idx + 1) % len(self.experiment_suite.get_experiments())
self._load_experiment(self.current_experiment_idx)
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_goal = self.positions[self.current_experiment.poses[self.current_pose][1]]
self.current_pose += 1
else:
# go over all the possible positions in a cyclic manner
@@ -428,6 +442,6 @@ class CarlaEnvironment(Environment):
This can be different from the observation. For example, mujoco's observation is a measurements vector.
:return: numpy array containing the image that will be rendered to the screen
"""
image = [self.state[camera.value] for camera in self.cameras]
image = [self.state[camera.name] for camera in self.scene.sensors]
image = np.vstack(image)
return image