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<h1>Source code for rl_coach.environments.carla_environment</h1><div class="highlight"><pre>
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<span></span><span class="c1">#</span>
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<span class="c1"># Copyright (c) 2017 Intel Corporation</span>
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<span class="c1">#</span>
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<span class="c1"># Licensed under the Apache License, Version 2.0 (the "License");</span>
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<span class="c1"># you may not use this file except in compliance with the License.</span>
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<span class="c1"># You may obtain a copy of the License at</span>
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<span class="c1">#</span>
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<span class="c1"># http://www.apache.org/licenses/LICENSE-2.0</span>
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<span class="c1">#</span>
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<span class="c1"># Unless required by applicable law or agreed to in writing, software</span>
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<span class="c1"># distributed under the License is distributed on an "AS IS" BASIS,</span>
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<span class="c1"># WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span>
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<span class="c1"># See the License for the specific language governing permissions and</span>
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<span class="c1"># limitations under the License.</span>
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<span class="c1">#</span>
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<span class="kn">import</span> <span class="nn">random</span>
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<span class="kn">import</span> <span class="nn">sys</span>
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<span class="kn">from</span> <span class="nn">os</span> <span class="k">import</span> <span class="n">path</span><span class="p">,</span> <span class="n">environ</span>
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<span class="kn">from</span> <span class="nn">rl_coach.logger</span> <span class="k">import</span> <span class="n">screen</span>
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<span class="kn">from</span> <span class="nn">rl_coach.filters.action.partial_discrete_action_space_map</span> <span class="k">import</span> <span class="n">PartialDiscreteActionSpaceMap</span>
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<span class="kn">from</span> <span class="nn">rl_coach.filters.observation.observation_rgb_to_y_filter</span> <span class="k">import</span> <span class="n">ObservationRGBToYFilter</span>
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<span class="kn">from</span> <span class="nn">rl_coach.filters.observation.observation_to_uint8_filter</span> <span class="k">import</span> <span class="n">ObservationToUInt8Filter</span>
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<span class="k">try</span><span class="p">:</span>
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<span class="k">if</span> <span class="s1">'CARLA_ROOT'</span> <span class="ow">in</span> <span class="n">environ</span><span class="p">:</span>
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<span class="n">sys</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">environ</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">'CARLA_ROOT'</span><span class="p">),</span> <span class="s1">'PythonClient'</span><span class="p">))</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="n">screen</span><span class="o">.</span><span class="n">error</span><span class="p">(</span><span class="s2">"CARLA_ROOT was not defined. Please set it to point to the CARLA root directory and try again."</span><span class="p">)</span>
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<span class="kn">from</span> <span class="nn">carla.client</span> <span class="k">import</span> <span class="n">CarlaClient</span>
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<span class="kn">from</span> <span class="nn">carla.settings</span> <span class="k">import</span> <span class="n">CarlaSettings</span>
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<span class="kn">from</span> <span class="nn">carla.tcp</span> <span class="k">import</span> <span class="n">TCPConnectionError</span>
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<span class="kn">from</span> <span class="nn">carla.sensor</span> <span class="k">import</span> <span class="n">Camera</span>
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<span class="kn">from</span> <span class="nn">carla.client</span> <span class="k">import</span> <span class="n">VehicleControl</span>
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<span class="kn">from</span> <span class="nn">carla.planner.planner</span> <span class="k">import</span> <span class="n">Planner</span>
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<span class="kn">from</span> <span class="nn">carla.driving_benchmark.experiment_suites.experiment_suite</span> <span class="k">import</span> <span class="n">ExperimentSuite</span>
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<span class="k">except</span> <span class="ne">ImportError</span><span class="p">:</span>
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<span class="kn">from</span> <span class="nn">rl_coach.logger</span> <span class="k">import</span> <span class="n">failed_imports</span>
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<span class="n">failed_imports</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="s2">"CARLA"</span><span class="p">)</span>
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<span class="kn">import</span> <span class="nn">logging</span>
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<span class="kn">import</span> <span class="nn">subprocess</span>
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<span class="kn">from</span> <span class="nn">rl_coach.environments.environment</span> <span class="k">import</span> <span class="n">Environment</span><span class="p">,</span> <span class="n">EnvironmentParameters</span><span class="p">,</span> <span class="n">LevelSelection</span>
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<span class="kn">from</span> <span class="nn">rl_coach.spaces</span> <span class="k">import</span> <span class="n">BoxActionSpace</span><span class="p">,</span> <span class="n">ImageObservationSpace</span><span class="p">,</span> <span class="n">StateSpace</span><span class="p">,</span> \
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<span class="n">VectorObservationSpace</span>
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<span class="kn">from</span> <span class="nn">rl_coach.utils</span> <span class="k">import</span> <span class="n">get_open_port</span><span class="p">,</span> <span class="n">force_list</span>
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<span class="kn">from</span> <span class="nn">enum</span> <span class="k">import</span> <span class="n">Enum</span>
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<span class="kn">import</span> <span class="nn">os</span>
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<span class="kn">import</span> <span class="nn">signal</span>
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<span class="kn">from</span> <span class="nn">typing</span> <span class="k">import</span> <span class="n">List</span><span class="p">,</span> <span class="n">Union</span>
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<span class="kn">from</span> <span class="nn">rl_coach.base_parameters</span> <span class="k">import</span> <span class="n">VisualizationParameters</span>
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<span class="kn">from</span> <span class="nn">rl_coach.filters.filter</span> <span class="k">import</span> <span class="n">InputFilter</span><span class="p">,</span> <span class="n">NoOutputFilter</span>
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<span class="kn">from</span> <span class="nn">rl_coach.filters.observation.observation_rescale_to_size_filter</span> <span class="k">import</span> <span class="n">ObservationRescaleToSizeFilter</span>
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<span class="kn">from</span> <span class="nn">rl_coach.filters.observation.observation_stacking_filter</span> <span class="k">import</span> <span class="n">ObservationStackingFilter</span>
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<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
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<span class="c1"># enum of the available levels and their path</span>
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<span class="k">class</span> <span class="nc">CarlaLevel</span><span class="p">(</span><span class="n">Enum</span><span class="p">):</span>
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<span class="n">TOWN1</span> <span class="o">=</span> <span class="p">{</span><span class="s2">"map_name"</span><span class="p">:</span> <span class="s2">"Town01"</span><span class="p">,</span> <span class="s2">"map_path"</span><span class="p">:</span> <span class="s2">"/Game/Maps/Town01"</span><span class="p">}</span>
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<span class="n">TOWN2</span> <span class="o">=</span> <span class="p">{</span><span class="s2">"map_name"</span><span class="p">:</span> <span class="s2">"Town02"</span><span class="p">,</span> <span class="s2">"map_path"</span><span class="p">:</span> <span class="s2">"/Game/Maps/Town02"</span><span class="p">}</span>
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<span class="n">key_map</span> <span class="o">=</span> <span class="p">{</span>
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<span class="s1">'BRAKE'</span><span class="p">:</span> <span class="p">(</span><span class="mi">274</span><span class="p">,),</span> <span class="c1"># down arrow</span>
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<span class="s1">'GAS'</span><span class="p">:</span> <span class="p">(</span><span class="mi">273</span><span class="p">,),</span> <span class="c1"># up arrow</span>
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<span class="s1">'TURN_LEFT'</span><span class="p">:</span> <span class="p">(</span><span class="mi">276</span><span class="p">,),</span> <span class="c1"># left arrow</span>
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<span class="s1">'TURN_RIGHT'</span><span class="p">:</span> <span class="p">(</span><span class="mi">275</span><span class="p">,),</span> <span class="c1"># right arrow</span>
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<span class="s1">'GAS_AND_TURN_LEFT'</span><span class="p">:</span> <span class="p">(</span><span class="mi">273</span><span class="p">,</span> <span class="mi">276</span><span class="p">),</span>
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<span class="s1">'GAS_AND_TURN_RIGHT'</span><span class="p">:</span> <span class="p">(</span><span class="mi">273</span><span class="p">,</span> <span class="mi">275</span><span class="p">),</span>
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<span class="s1">'BRAKE_AND_TURN_LEFT'</span><span class="p">:</span> <span class="p">(</span><span class="mi">274</span><span class="p">,</span> <span class="mi">276</span><span class="p">),</span>
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<span class="s1">'BRAKE_AND_TURN_RIGHT'</span><span class="p">:</span> <span class="p">(</span><span class="mi">274</span><span class="p">,</span> <span class="mi">275</span><span class="p">),</span>
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<span class="p">}</span>
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<span class="n">CarlaInputFilter</span> <span class="o">=</span> <span class="n">InputFilter</span><span class="p">(</span><span class="n">is_a_reference_filter</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
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<span class="n">CarlaInputFilter</span><span class="o">.</span><span class="n">add_observation_filter</span><span class="p">(</span><span class="s1">'forward_camera'</span><span class="p">,</span> <span class="s1">'rescaling'</span><span class="p">,</span>
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<span class="n">ObservationRescaleToSizeFilter</span><span class="p">(</span><span class="n">ImageObservationSpace</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">128</span><span class="p">,</span> <span class="mi">180</span><span class="p">,</span> <span class="mi">3</span><span class="p">]),</span>
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<span class="n">high</span><span class="o">=</span><span class="mi">255</span><span class="p">)))</span>
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<span class="n">CarlaInputFilter</span><span class="o">.</span><span class="n">add_observation_filter</span><span class="p">(</span><span class="s1">'forward_camera'</span><span class="p">,</span> <span class="s1">'to_grayscale'</span><span class="p">,</span> <span class="n">ObservationRGBToYFilter</span><span class="p">())</span>
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<span class="n">CarlaInputFilter</span><span class="o">.</span><span class="n">add_observation_filter</span><span class="p">(</span><span class="s1">'forward_camera'</span><span class="p">,</span> <span class="s1">'to_uint8'</span><span class="p">,</span> <span class="n">ObservationToUInt8Filter</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">255</span><span class="p">))</span>
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<span class="n">CarlaInputFilter</span><span class="o">.</span><span class="n">add_observation_filter</span><span class="p">(</span><span class="s1">'forward_camera'</span><span class="p">,</span> <span class="s1">'stacking'</span><span class="p">,</span> <span class="n">ObservationStackingFilter</span><span class="p">(</span><span class="mi">4</span><span class="p">))</span>
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<span class="n">CarlaOutputFilter</span> <span class="o">=</span> <span class="n">NoOutputFilter</span><span class="p">()</span>
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<span class="k">class</span> <span class="nc">CameraTypes</span><span class="p">(</span><span class="n">Enum</span><span class="p">):</span>
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<span class="n">FRONT</span> <span class="o">=</span> <span class="s2">"forward_camera"</span>
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<span class="n">LEFT</span> <span class="o">=</span> <span class="s2">"left_camera"</span>
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<span class="n">RIGHT</span> <span class="o">=</span> <span class="s2">"right_camera"</span>
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<span class="n">SEGMENTATION</span> <span class="o">=</span> <span class="s2">"segmentation"</span>
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<span class="n">DEPTH</span> <span class="o">=</span> <span class="s2">"depth"</span>
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<span class="n">LIDAR</span> <span class="o">=</span> <span class="s2">"lidar"</span>
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<span class="k">class</span> <span class="nc">CarlaEnvironmentParameters</span><span class="p">(</span><span class="n">EnvironmentParameters</span><span class="p">):</span>
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<span class="k">class</span> <span class="nc">Quality</span><span class="p">(</span><span class="n">Enum</span><span class="p">):</span>
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<span class="n">LOW</span> <span class="o">=</span> <span class="s2">"Low"</span>
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<span class="n">EPIC</span> <span class="o">=</span> <span class="s2">"Epic"</span>
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<span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">level</span><span class="o">=</span><span class="s2">"town1"</span><span class="p">):</span>
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<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">level</span><span class="o">=</span><span class="n">level</span><span class="p">)</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">frame_skip</span> <span class="o">=</span> <span class="mi">3</span> <span class="c1"># the frame skip affects the fps of the server directly. fps = 30 / frameskip</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">server_height</span> <span class="o">=</span> <span class="mi">512</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">server_width</span> <span class="o">=</span> <span class="mi">720</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">camera_height</span> <span class="o">=</span> <span class="mi">128</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">camera_width</span> <span class="o">=</span> <span class="mi">180</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span> <span class="o">=</span> <span class="kc">None</span> <span class="c1"># an optional CARLA experiment suite to use</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">config</span> <span class="o">=</span> <span class="kc">None</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">level</span> <span class="o">=</span> <span class="n">level</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">quality</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">Quality</span><span class="o">.</span><span class="n">LOW</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">cameras</span> <span class="o">=</span> <span class="p">[</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">FRONT</span><span class="p">]</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">weather_id</span> <span class="o">=</span> <span class="p">[</span><span class="mi">1</span><span class="p">]</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">verbose</span> <span class="o">=</span> <span class="kc">True</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">episode_max_time</span> <span class="o">=</span> <span class="mi">100000</span> <span class="c1"># miliseconds for each episode</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">allow_braking</span> <span class="o">=</span> <span class="kc">False</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">separate_actions_for_throttle_and_brake</span> <span class="o">=</span> <span class="kc">False</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">num_speedup_steps</span> <span class="o">=</span> <span class="mi">30</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">max_speed</span> <span class="o">=</span> <span class="mf">35.0</span> <span class="c1"># km/h</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">default_input_filter</span> <span class="o">=</span> <span class="n">CarlaInputFilter</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">default_output_filter</span> <span class="o">=</span> <span class="n">CarlaOutputFilter</span>
|
|
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|
<span class="nd">@property</span>
|
|
<span class="k">def</span> <span class="nf">path</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
|
|
<span class="k">return</span> <span class="s1">'rl_coach.environments.carla_environment:CarlaEnvironment'</span>
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<div class="viewcode-block" id="CarlaEnvironment"><a class="viewcode-back" href="../../../components/environments/index.html#rl_coach.environments.carla_environment.CarlaEnvironment">[docs]</a><span class="k">class</span> <span class="nc">CarlaEnvironment</span><span class="p">(</span><span class="n">Environment</span><span class="p">):</span>
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|
<span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">level</span><span class="p">:</span> <span class="n">LevelSelection</span><span class="p">,</span>
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|
<span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">frame_skip</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">human_control</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span> <span class="n">custom_reward_threshold</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
|
|
<span class="n">visualization_parameters</span><span class="p">:</span> <span class="n">VisualizationParameters</span><span class="p">,</span>
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<span class="n">server_height</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">server_width</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">camera_width</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
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|
<span class="n">verbose</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span> <span class="n">experiment_suite</span><span class="p">:</span> <span class="n">ExperimentSuite</span><span class="p">,</span> <span class="n">config</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">episode_max_time</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
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|
<span class="n">allow_braking</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span> <span class="n">quality</span><span class="p">:</span> <span class="n">CarlaEnvironmentParameters</span><span class="o">.</span><span class="n">Quality</span><span class="p">,</span>
|
|
<span class="n">cameras</span><span class="p">:</span> <span class="n">List</span><span class="p">[</span><span class="n">CameraTypes</span><span class="p">],</span> <span class="n">weather_id</span><span class="p">:</span> <span class="n">List</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="n">experiment_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
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|
<span class="n">separate_actions_for_throttle_and_brake</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span>
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|
<span class="n">num_speedup_steps</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">max_speed</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">target_success_rate</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
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<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">level</span><span class="p">,</span> <span class="n">seed</span><span class="p">,</span> <span class="n">frame_skip</span><span class="p">,</span> <span class="n">human_control</span><span class="p">,</span> <span class="n">custom_reward_threshold</span><span class="p">,</span> <span class="n">visualization_parameters</span><span class="p">,</span> <span class="n">target_success_rate</span><span class="p">)</span>
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<span class="c1"># server configuration</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">server_height</span> <span class="o">=</span> <span class="n">server_height</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">server_width</span> <span class="o">=</span> <span class="n">server_width</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">port</span> <span class="o">=</span> <span class="n">get_open_port</span><span class="p">()</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">host</span> <span class="o">=</span> <span class="s1">'localhost'</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">map_name</span> <span class="o">=</span> <span class="n">CarlaLevel</span><span class="p">[</span><span class="n">level</span><span class="o">.</span><span class="n">upper</span><span class="p">()]</span><span class="o">.</span><span class="n">value</span><span class="p">[</span><span class="s1">'map_name'</span><span class="p">]</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">map_path</span> <span class="o">=</span> <span class="n">CarlaLevel</span><span class="p">[</span><span class="n">level</span><span class="o">.</span><span class="n">upper</span><span class="p">()]</span><span class="o">.</span><span class="n">value</span><span class="p">[</span><span class="s1">'map_path'</span><span class="p">]</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">experiment_path</span> <span class="o">=</span> <span class="n">experiment_path</span>
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<span class="c1"># client configuration</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">verbose</span> <span class="o">=</span> <span class="n">verbose</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">quality</span> <span class="o">=</span> <span class="n">quality</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">cameras</span> <span class="o">=</span> <span class="n">cameras</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">weather_id</span> <span class="o">=</span> <span class="n">weather_id</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">episode_max_time</span> <span class="o">=</span> <span class="n">episode_max_time</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">allow_braking</span> <span class="o">=</span> <span class="n">allow_braking</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">separate_actions_for_throttle_and_brake</span> <span class="o">=</span> <span class="n">separate_actions_for_throttle_and_brake</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">camera_width</span> <span class="o">=</span> <span class="n">camera_width</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">camera_height</span> <span class="o">=</span> <span class="n">camera_height</span>
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<span class="c1"># setup server settings</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span> <span class="o">=</span> <span class="n">experiment_suite</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">config</span> <span class="o">=</span> <span class="n">config</span>
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<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">:</span>
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<span class="c1"># load settings from file</span>
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|
<span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">,</span> <span class="s1">'r'</span><span class="p">)</span> <span class="k">as</span> <span class="n">fp</span><span class="p">:</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">settings</span> <span class="o">=</span> <span class="n">fp</span><span class="o">.</span><span class="n">read</span><span class="p">()</span>
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<span class="k">else</span><span class="p">:</span>
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|
<span class="c1"># hard coded settings</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">settings</span> <span class="o">=</span> <span class="n">CarlaSettings</span><span class="p">()</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">set</span><span class="p">(</span>
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<span class="n">SynchronousMode</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
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|
<span class="n">SendNonPlayerAgentsInfo</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
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|
<span class="n">NumberOfVehicles</span><span class="o">=</span><span class="mi">15</span><span class="p">,</span>
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|
<span class="n">NumberOfPedestrians</span><span class="o">=</span><span class="mi">30</span><span class="p">,</span>
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|
<span class="n">WeatherId</span><span class="o">=</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">force_list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">weather_id</span><span class="p">)),</span>
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<span class="n">QualityLevel</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">quality</span><span class="o">.</span><span class="n">value</span><span class="p">,</span>
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<span class="n">SeedVehicles</span><span class="o">=</span><span class="n">seed</span><span class="p">,</span>
|
|
<span class="n">SeedPedestrians</span><span class="o">=</span><span class="n">seed</span><span class="p">)</span>
|
|
<span class="k">if</span> <span class="n">seed</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">randomize_seeds</span><span class="p">()</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">settings</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_add_cameras</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">settings</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cameras</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">camera_width</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">camera_height</span><span class="p">)</span>
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<span class="c1"># open the server</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">server</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_open_server</span><span class="p">()</span>
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<span class="n">logging</span><span class="o">.</span><span class="n">disable</span><span class="p">(</span><span class="mi">40</span><span class="p">)</span>
|
|
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|
<span class="c1"># open the client</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">game</span> <span class="o">=</span> <span class="n">CarlaClient</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">host</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">port</span><span class="p">,</span> <span class="n">timeout</span><span class="o">=</span><span class="mi">99999999</span><span class="p">)</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">connect</span><span class="p">()</span>
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|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_experiment_idx</span> <span class="o">=</span> <span class="mi">0</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span><span class="o">.</span><span class="n">get_experiments</span><span class="p">()[</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment_idx</span><span class="p">]</span>
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|
<span class="bp">self</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">load_settings</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span><span class="o">.</span><span class="n">conditions</span><span class="p">)</span>
|
|
<span class="k">else</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">load_settings</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">settings</span><span class="p">)</span>
|
|
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<span class="c1"># get available start positions</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">positions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">player_start_spots</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">num_positions</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">positions</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span> <span class="o">=</span> <span class="mi">0</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_pose</span> <span class="o">=</span> <span class="mi">0</span>
|
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|
<span class="c1"># state space</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="n">StateSpace</span><span class="p">({</span>
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|
<span class="s2">"measurements"</span><span class="p">:</span> <span class="n">VectorObservationSpace</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="n">measurements_names</span><span class="o">=</span><span class="p">[</span><span class="s2">"forward_speed"</span><span class="p">,</span> <span class="s2">"x"</span><span class="p">,</span> <span class="s2">"y"</span><span class="p">,</span> <span class="s2">"z"</span><span class="p">])</span>
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|
<span class="p">})</span>
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|
<span class="k">for</span> <span class="n">camera</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">:</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">state_space</span><span class="p">[</span><span class="n">camera</span><span class="o">.</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">ImageObservationSpace</span><span class="p">(</span>
|
|
<span class="n">shape</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">camera_height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">camera_width</span><span class="p">,</span> <span class="mi">3</span><span class="p">]),</span>
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|
<span class="n">high</span><span class="o">=</span><span class="mi">255</span><span class="p">)</span>
|
|
|
|
<span class="c1"># action space</span>
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">separate_actions_for_throttle_and_brake</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">BoxActionSpace</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="mi">3</span><span class="p">,</span> <span class="n">low</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]),</span> <span class="n">high</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]),</span>
|
|
<span class="n">descriptions</span><span class="o">=</span><span class="p">[</span><span class="s2">"steer"</span><span class="p">,</span> <span class="s2">"gas"</span><span class="p">,</span> <span class="s2">"brake"</span><span class="p">])</span>
|
|
<span class="k">else</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">BoxActionSpace</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">low</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]),</span> <span class="n">high</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]),</span>
|
|
<span class="n">descriptions</span><span class="o">=</span><span class="p">[</span><span class="s2">"steer"</span><span class="p">,</span> <span class="s2">"gas_and_brake"</span><span class="p">])</span>
|
|
|
|
<span class="c1"># human control</span>
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">human_control</span><span class="p">:</span>
|
|
<span class="c1"># convert continuous action space to discrete</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span> <span class="o">=</span> <span class="mf">0.5</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">gas_strength</span> <span class="o">=</span> <span class="mf">1.0</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">brake_strength</span> <span class="o">=</span> <span class="mf">0.5</span>
|
|
<span class="c1"># TODO: reverse order of actions</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">PartialDiscreteActionSpaceMap</span><span class="p">(</span>
|
|
<span class="n">target_actions</span><span class="o">=</span><span class="p">[[</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="mf">0.</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="mf">0.</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">gas_strength</span><span class="p">,</span> <span class="mf">0.</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">brake_strength</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">gas_strength</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">gas_strength</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">brake_strength</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span><span class="p">],</span>
|
|
<span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">brake_strength</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">steering_strength</span><span class="p">]],</span>
|
|
<span class="n">descriptions</span><span class="o">=</span><span class="p">[</span><span class="s1">'NO-OP'</span><span class="p">,</span> <span class="s1">'TURN_LEFT'</span><span class="p">,</span> <span class="s1">'TURN_RIGHT'</span><span class="p">,</span> <span class="s1">'GAS'</span><span class="p">,</span> <span class="s1">'BRAKE'</span><span class="p">,</span>
|
|
<span class="s1">'GAS_AND_TURN_LEFT'</span><span class="p">,</span> <span class="s1">'GAS_AND_TURN_RIGHT'</span><span class="p">,</span>
|
|
<span class="s1">'BRAKE_AND_TURN_LEFT'</span><span class="p">,</span> <span class="s1">'BRAKE_AND_TURN_RIGHT'</span><span class="p">]</span>
|
|
<span class="p">)</span>
|
|
|
|
<span class="c1"># map keyboard keys to actions</span>
|
|
<span class="k">for</span> <span class="n">idx</span><span class="p">,</span> <span class="n">action</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">descriptions</span><span class="p">):</span>
|
|
<span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">key_map</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
|
|
<span class="k">if</span> <span class="n">action</span> <span class="o">==</span> <span class="n">key</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">key_to_action</span><span class="p">[</span><span class="n">key_map</span><span class="p">[</span><span class="n">key</span><span class="p">]]</span> <span class="o">=</span> <span class="n">idx</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">num_speedup_steps</span> <span class="o">=</span> <span class="n">num_speedup_steps</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">max_speed</span> <span class="o">=</span> <span class="n">max_speed</span>
|
|
|
|
<span class="c1"># measurements</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">autopilot</span> <span class="o">=</span> <span class="kc">None</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">planner</span> <span class="o">=</span> <span class="n">Planner</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">map_name</span><span class="p">)</span>
|
|
|
|
<span class="c1"># env initialization</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">reset_internal_state</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
|
|
|
|
<span class="c1"># render</span>
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_rendered</span><span class="p">:</span>
|
|
<span class="n">image</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">get_rendered_image</span><span class="p">()</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">renderer</span><span class="o">.</span><span class="n">create_screen</span><span class="p">(</span><span class="n">image</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">image</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">target_success_rate</span> <span class="o">=</span> <span class="n">target_success_rate</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_add_cameras</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">settings</span><span class="p">,</span> <span class="n">cameras</span><span class="p">,</span> <span class="n">camera_width</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">):</span>
|
|
<span class="c1"># add a front facing camera</span>
|
|
<span class="k">if</span> <span class="n">CameraTypes</span><span class="o">.</span><span class="n">FRONT</span> <span class="ow">in</span> <span class="n">cameras</span><span class="p">:</span>
|
|
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">(</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">FRONT</span><span class="o">.</span><span class="n">value</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="n">FOV</span><span class="o">=</span><span class="mi">100</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_image_size</span><span class="p">(</span><span class="n">camera_width</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">1.4</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_rotation</span><span class="p">(</span><span class="o">-</span><span class="mf">15.0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
|
<span class="n">settings</span><span class="o">.</span><span class="n">add_sensor</span><span class="p">(</span><span class="n">camera</span><span class="p">)</span>
|
|
|
|
<span class="c1"># add a left facing camera</span>
|
|
<span class="k">if</span> <span class="n">CameraTypes</span><span class="o">.</span><span class="n">LEFT</span> <span class="ow">in</span> <span class="n">cameras</span><span class="p">:</span>
|
|
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">(</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">LEFT</span><span class="o">.</span><span class="n">value</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="n">FOV</span><span class="o">=</span><span class="mi">100</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_image_size</span><span class="p">(</span><span class="n">camera_width</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">1.4</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_rotation</span><span class="p">(</span><span class="o">-</span><span class="mf">15.0</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
|
<span class="n">settings</span><span class="o">.</span><span class="n">add_sensor</span><span class="p">(</span><span class="n">camera</span><span class="p">)</span>
|
|
|
|
<span class="c1"># add a right facing camera</span>
|
|
<span class="k">if</span> <span class="n">CameraTypes</span><span class="o">.</span><span class="n">RIGHT</span> <span class="ow">in</span> <span class="n">cameras</span><span class="p">:</span>
|
|
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">(</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">RIGHT</span><span class="o">.</span><span class="n">value</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="n">FOV</span><span class="o">=</span><span class="mi">100</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_image_size</span><span class="p">(</span><span class="n">camera_width</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">1.4</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_rotation</span><span class="p">(</span><span class="o">-</span><span class="mf">15.0</span><span class="p">,</span> <span class="mi">30</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
|
<span class="n">settings</span><span class="o">.</span><span class="n">add_sensor</span><span class="p">(</span><span class="n">camera</span><span class="p">)</span>
|
|
|
|
<span class="c1"># add a front facing depth camera</span>
|
|
<span class="k">if</span> <span class="n">CameraTypes</span><span class="o">.</span><span class="n">DEPTH</span> <span class="ow">in</span> <span class="n">cameras</span><span class="p">:</span>
|
|
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">(</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">DEPTH</span><span class="o">.</span><span class="n">value</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_image_size</span><span class="p">(</span><span class="n">camera_width</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">1.3</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_rotation</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">30</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">PostProcessing</span> <span class="o">=</span> <span class="s1">'Depth'</span>
|
|
<span class="n">settings</span><span class="o">.</span><span class="n">add_sensor</span><span class="p">(</span><span class="n">camera</span><span class="p">)</span>
|
|
|
|
<span class="c1"># add a front facing semantic segmentation camera</span>
|
|
<span class="k">if</span> <span class="n">CameraTypes</span><span class="o">.</span><span class="n">SEGMENTATION</span> <span class="ow">in</span> <span class="n">cameras</span><span class="p">:</span>
|
|
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">(</span><span class="n">CameraTypes</span><span class="o">.</span><span class="n">SEGMENTATION</span><span class="o">.</span><span class="n">value</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_image_size</span><span class="p">(</span><span class="n">camera_width</span><span class="p">,</span> <span class="n">camera_height</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_position</span><span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">1.3</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">set_rotation</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">30</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
|
<span class="n">camera</span><span class="o">.</span><span class="n">PostProcessing</span> <span class="o">=</span> <span class="s1">'SemanticSegmentation'</span>
|
|
<span class="n">settings</span><span class="o">.</span><span class="n">add_sensor</span><span class="p">(</span><span class="n">camera</span><span class="p">)</span>
|
|
|
|
<span class="k">return</span> <span class="n">settings</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_get_directions</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">current_point</span><span class="p">,</span> <span class="n">end_point</span><span class="p">):</span>
|
|
<span class="sd">"""</span>
|
|
<span class="sd"> Class that should return the directions to reach a certain goal</span>
|
|
<span class="sd"> """</span>
|
|
|
|
<span class="n">directions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">planner</span><span class="o">.</span><span class="n">get_next_command</span><span class="p">(</span>
|
|
<span class="p">(</span><span class="n">current_point</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">x</span><span class="p">,</span>
|
|
<span class="n">current_point</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">y</span><span class="p">,</span> <span class="mf">0.22</span><span class="p">),</span>
|
|
<span class="p">(</span><span class="n">current_point</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">x</span><span class="p">,</span>
|
|
<span class="n">current_point</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">y</span><span class="p">,</span>
|
|
<span class="n">current_point</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">z</span><span class="p">),</span>
|
|
<span class="p">(</span><span class="n">end_point</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">x</span><span class="p">,</span> <span class="n">end_point</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">y</span><span class="p">,</span> <span class="mf">0.22</span><span class="p">),</span>
|
|
<span class="p">(</span><span class="n">end_point</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">x</span><span class="p">,</span> <span class="n">end_point</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">y</span><span class="p">,</span> <span class="n">end_point</span><span class="o">.</span><span class="n">orientation</span><span class="o">.</span><span class="n">z</span><span class="p">))</span>
|
|
<span class="k">return</span> <span class="n">directions</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_open_server</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
|
|
<span class="n">log_path</span> <span class="o">=</span> <span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">experiment_path</span> <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment_path</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="k">else</span> <span class="s1">'.'</span><span class="p">,</span> <span class="s1">'logs'</span><span class="p">,</span>
|
|
<span class="s2">"CARLA_LOG_</span><span class="si">{}</span><span class="s2">.txt"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">port</span><span class="p">))</span>
|
|
<span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">log_path</span><span class="p">)):</span>
|
|
<span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">log_path</span><span class="p">))</span>
|
|
<span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">log_path</span><span class="p">,</span> <span class="s2">"wb"</span><span class="p">)</span> <span class="k">as</span> <span class="n">out</span><span class="p">:</span>
|
|
<span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">environ</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">'CARLA_ROOT'</span><span class="p">),</span> <span class="s1">'CarlaUE4.sh'</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">map_path</span><span class="p">,</span>
|
|
<span class="s2">"-benchmark"</span><span class="p">,</span> <span class="s2">"-carla-server"</span><span class="p">,</span> <span class="s2">"-fps=</span><span class="si">{}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="mi">30</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">frame_skip</span><span class="p">),</span>
|
|
<span class="s2">"-world-port=</span><span class="si">{}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">port</span><span class="p">),</span>
|
|
<span class="s2">"-windowed -ResX=</span><span class="si">{}</span><span class="s2"> -ResY=</span><span class="si">{}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">server_width</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">server_height</span><span class="p">),</span>
|
|
<span class="s2">"-carla-no-hud"</span><span class="p">]</span>
|
|
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">:</span>
|
|
<span class="n">cmd</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="s2">"-carla-settings=</span><span class="si">{}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">))</span>
|
|
<span class="n">p</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">Popen</span><span class="p">(</span><span class="n">cmd</span><span class="p">,</span> <span class="n">stdout</span><span class="o">=</span><span class="n">out</span><span class="p">,</span> <span class="n">stderr</span><span class="o">=</span><span class="n">out</span><span class="p">)</span>
|
|
|
|
<span class="k">return</span> <span class="n">p</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_close_server</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
|
|
<span class="n">os</span><span class="o">.</span><span class="n">killpg</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getpgid</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">server</span><span class="o">.</span><span class="n">pid</span><span class="p">),</span> <span class="n">signal</span><span class="o">.</span><span class="n">SIGKILL</span><span class="p">)</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_update_state</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
|
|
<span class="c1"># get measurements and observations</span>
|
|
<span class="n">measurements</span> <span class="o">=</span> <span class="p">[]</span>
|
|
<span class="k">while</span> <span class="nb">type</span><span class="p">(</span><span class="n">measurements</span><span class="p">)</span> <span class="o">==</span> <span class="nb">list</span><span class="p">:</span>
|
|
<span class="n">measurements</span><span class="p">,</span> <span class="n">sensor_data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">read_data</span><span class="p">()</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="p">{}</span>
|
|
|
|
<span class="k">for</span> <span class="n">camera</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="n">camera</span><span class="o">.</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">sensor_data</span><span class="p">[</span><span class="n">camera</span><span class="o">.</span><span class="n">name</span><span class="p">]</span><span class="o">.</span><span class="n">data</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">location</span> <span class="o">=</span> <span class="p">[</span><span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">transform</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">x</span><span class="p">,</span>
|
|
<span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">transform</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">y</span><span class="p">,</span>
|
|
<span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">transform</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">z</span><span class="p">]</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">distance_from_goal</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">location</span><span class="p">[:</span><span class="mi">2</span><span class="p">])</span> <span class="o">-</span>
|
|
<span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">current_goal</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">x</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">current_goal</span><span class="o">.</span><span class="n">location</span><span class="o">.</span><span class="n">y</span><span class="p">])</span>
|
|
|
|
<span class="n">is_collision</span> <span class="o">=</span> <span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">collision_vehicles</span> <span class="o">!=</span> <span class="mi">0</span> \
|
|
<span class="ow">or</span> <span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">collision_pedestrians</span> <span class="o">!=</span> <span class="mi">0</span> \
|
|
<span class="ow">or</span> <span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">collision_other</span> <span class="o">!=</span> <span class="mi">0</span>
|
|
|
|
<span class="n">speed_reward</span> <span class="o">=</span> <span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">forward_speed</span> <span class="o">-</span> <span class="mi">1</span>
|
|
<span class="k">if</span> <span class="n">speed_reward</span> <span class="o">></span> <span class="mf">30.</span><span class="p">:</span>
|
|
<span class="n">speed_reward</span> <span class="o">=</span> <span class="mf">30.</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">reward</span> <span class="o">=</span> <span class="n">speed_reward</span> \
|
|
<span class="o">-</span> <span class="p">(</span><span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">intersection_otherlane</span> <span class="o">*</span> <span class="mi">5</span><span class="p">)</span> \
|
|
<span class="o">-</span> <span class="p">(</span><span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">intersection_offroad</span> <span class="o">*</span> <span class="mi">5</span><span class="p">)</span> \
|
|
<span class="o">-</span> <span class="n">is_collision</span> <span class="o">*</span> <span class="mi">100</span> \
|
|
<span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">steer</span><span class="p">)</span> <span class="o">*</span> <span class="mi">10</span>
|
|
|
|
<span class="c1"># update measurements</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">measurements</span> <span class="o">=</span> <span class="p">[</span><span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">forward_speed</span><span class="p">]</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">location</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">autopilot</span> <span class="o">=</span> <span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">autopilot_control</span>
|
|
|
|
<span class="c1"># The directions to reach the goal (0 Follow lane, 1 Left, 2 Right, 3 Straight)</span>
|
|
<span class="n">directions</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_get_directions</span><span class="p">(</span><span class="n">measurements</span><span class="o">.</span><span class="n">player_measurements</span><span class="o">.</span><span class="n">transform</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">current_goal</span><span class="p">)</span> <span class="o">-</span> <span class="mi">2</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s1">'high_level_command'</span><span class="p">]</span> <span class="o">=</span> <span class="n">directions</span>
|
|
|
|
<span class="k">if</span> <span class="p">(</span><span class="n">measurements</span><span class="o">.</span><span class="n">game_timestamp</span> <span class="o">>=</span> <span class="bp">self</span><span class="o">.</span><span class="n">episode_max_time</span><span class="p">)</span> <span class="ow">or</span> <span class="n">is_collision</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">done</span> <span class="o">=</span> <span class="kc">True</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s1">'measurements'</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">measurements</span><span class="p">)</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_take_action</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">):</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span> <span class="o">=</span> <span class="n">VehicleControl</span><span class="p">()</span>
|
|
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">separate_actions_for_throttle_and_brake</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">steer</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">action</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">throttle</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">action</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">brake</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">action</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
|
|
<span class="k">else</span><span class="p">:</span>
|
|
<span class="c1"># transform the 2 value action (steer, throttle - brake) into a 3 value action (steer, throttle, brake)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">steer</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">action</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">throttle</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">action</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">brake</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">action</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span>
|
|
|
|
<span class="c1"># prevent braking</span>
|
|
<span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">allow_braking</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">brake</span> <span class="o"><</span> <span class="mf">0.1</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">throttle</span> <span class="o">></span> <span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">brake</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">brake</span> <span class="o">=</span> <span class="mi">0</span>
|
|
|
|
<span class="c1"># prevent over speeding</span>
|
|
<span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s1">'measurements'</span><span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">measurements</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="mf">3.6</span> <span class="o">></span> <span class="bp">self</span><span class="o">.</span><span class="n">max_speed</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">brake</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">throttle</span> <span class="o">=</span> <span class="mf">0.0</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">hand_brake</span> <span class="o">=</span> <span class="kc">False</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="o">.</span><span class="n">reverse</span> <span class="o">=</span> <span class="kc">False</span>
|
|
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">send_control</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">control</span><span class="p">)</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_load_experiment</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">experiment_idx</span><span class="p">):</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span><span class="o">.</span><span class="n">get_experiments</span><span class="p">()[</span><span class="n">experiment_idx</span><span class="p">]</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">load_settings</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span><span class="o">.</span><span class="n">conditions</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">positions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">player_start_spots</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">num_positions</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">positions</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span> <span class="o">=</span> <span class="mi">0</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_pose</span> <span class="o">=</span> <span class="mi">0</span>
|
|
|
|
<span class="k">def</span> <span class="nf">_restart_environment_episode</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">force_environment_reset</span><span class="o">=</span><span class="kc">False</span><span class="p">):</span>
|
|
<span class="c1"># select start and end positions</span>
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span><span class="p">:</span>
|
|
<span class="c1"># if an expeirent suite is available, follow its given poses</span>
|
|
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">current_pose</span> <span class="o">>=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span><span class="o">.</span><span class="n">poses</span><span class="p">):</span>
|
|
<span class="c1"># load a new experiment</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">current_experiment_idx</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment_idx</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">%</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">experiment_suite</span><span class="o">.</span><span class="n">get_experiments</span><span class="p">())</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">_load_experiment</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment_idx</span><span class="p">)</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span><span class="o">.</span><span class="n">poses</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">current_pose</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">current_goal</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">positions</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">current_experiment</span><span class="o">.</span><span class="n">poses</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">current_pose</span><span class="p">][</span><span class="mi">1</span><span class="p">]]</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">current_pose</span> <span class="o">+=</span> <span class="mi">1</span>
|
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<span class="k">else</span><span class="p">:</span>
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<span class="c1"># go over all the possible positions in a cyclic manner</span>
|
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<span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_positions</span>
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<span class="c1"># choose a random goal destination</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">current_goal</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">positions</span><span class="p">)</span>
|
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<span class="k">try</span><span class="p">:</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">start_episode</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span><span class="p">)</span>
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<span class="k">except</span><span class="p">:</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">connect</span><span class="p">()</span>
|
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<span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">start_episode</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_start_position_idx</span><span class="p">)</span>
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<span class="c1"># start the game with some initial speed</span>
|
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_speedup_steps</span><span class="p">):</span>
|
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<span class="bp">self</span><span class="o">.</span><span class="n">control</span> <span class="o">=</span> <span class="n">VehicleControl</span><span class="p">(</span><span class="n">throttle</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span> <span class="n">brake</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">steer</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">hand_brake</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">reverse</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
|
|
<span class="bp">self</span><span class="o">.</span><span class="n">game</span><span class="o">.</span><span class="n">send_control</span><span class="p">(</span><span class="n">VehicleControl</span><span class="p">())</span>
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<span class="k">def</span> <span class="nf">get_rendered_image</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-></span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
|
|
<span class="sd">"""</span>
|
|
<span class="sd"> Return a numpy array containing the image that will be rendered to the screen.</span>
|
|
<span class="sd"> This can be different from the observation. For example, mujoco's observation is a measurements vector.</span>
|
|
<span class="sd"> :return: numpy array containing the image that will be rendered to the screen</span>
|
|
<span class="sd"> """</span>
|
|
<span class="n">image</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="n">camera</span><span class="o">.</span><span class="n">name</span><span class="p">]</span> <span class="k">for</span> <span class="n">camera</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">]</span>
|
|
<span class="n">image</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">vstack</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
|
|
<span class="k">return</span> <span class="n">image</span>
|
|
|
|
<span class="k">def</span> <span class="nf">get_target_success_rate</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-></span> <span class="nb">float</span><span class="p">:</span>
|
|
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_success_rate</span></div>
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</pre></div>
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