def __init__(self, node_name):
# initialize the DTROS parent class
#color = rospy.get_param('~color')
super(MyROSWrapperNode, self).__init__(node_name=node_name,
node_type=NodeType.GENERIC)
# construct Publisher and Subscriber
self.pub = rospy.Publisher('/fakebot/camera_node/image/compressed',
CompressedImage,
queue_size=10)
self.sub = rospy.Subscriber('/fakebot/wheels_driver_node/wheels_cmd',
WheelsCmdStamped, self.callback)
#self.sub = rospy.Subscriber('chatter', String, self.callback)
self.iter = 0
# create bag files:
# self.bag = bag
self.env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
self.br = CvBridge()
self.right_wheel = 0
self.left_wheel = 0
def __init__(self, node_name):
super(DuckiegymRosWrapperNode,
self).__init__(node_name=node_name, node_type=NodeType.GENERIC)
self.action = [0, 0] # wheel commands for simulator
self.camera_info = self.load_camera_info(
"/data/config/calibrations/camera_intrinsic/default.yaml")
self.bridge = CvBridge()
vehicle_name = os.environ.get("VEHICLE_NAME")
image_topic = "/" + vehicle_name + "/camera_node/image/compressed"
self.pub_img = rospy.Publisher(image_topic, CompressedImage)
camera_info_topic = "/" + vehicle_name + "/camera_node/camera_info"
self.pub_camera_info = rospy.Publisher(camera_info_topic, CameraInfo)
wheels_cmd_topic = "/" + vehicle_name + "/wheels_driver_node/wheels_cmd"
self.sub_wheels_cmd = rospy.Subscriber(wheels_cmd_topic,
WheelsCmdStamped,
self.callback_wheels_cmd,
queue_size=1)
self.sim = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=False,
)
def __init__(self,
gain=1.0,
trim=0.0,
radius=0.0318,
k=27.0,
limit=1.0,
line=None,
GUI=None,
**kwargs):
Publisher.__init__(self)
Simulator.__init__(self, **kwargs)
logger.info('using DuckietownEnv')
threading.Thread.__init__(self)
self.action_space = spaces.Box(low=np.array([-1, -1]),
high=np.array([1, 1]),
dtype=np.float32)
# Should be adjusted so that the effective speed of the robot is 0.2 m/s
self.gain = gain
self.line = line
# Directional trim adjustment
self.trim = trim
self.register(GUI)
# Wheel radius
self.radius = radius
# Motor constant
self.k = k
# Wheel velocity limit
self.limit = limit
def __init__(self, node_name):
# initialize the DTROS parent class
super(ROSWrapper, self).__init__(node_name=node_name,
node_type=NodeType.GENERIC)
# construct rendered observation publisher
self.camera_pub = rospy.Publisher('~/' + VEHICLE_NAME +
'/camera_node/image/compressed',
CompressedImage,
queue_size=1)
# Construct subscriber for wheel_cmd topic
self.wheels_cmd_sub = rospy.Subscriber(
'~/' + VEHICLE_NAME + '/wheels_driver_node/wheels_cmd',
WheelsCmdStamped,
self.wheels_cmd_cb,
queue_size=1)
# Initialize the simulator
self.env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
# Create action variable
self.action = [0.0, 0.0]
def __init__(self,
gain=1.0,
trim=0.0,
radius=0.0318,
k=27.0,
limit=1.0,
**kwargs):
Simulator.__init__(self, **kwargs)
self.action_space = spaces.Box(low=np.array([-1, -1]),
high=np.array([1, 1]),
dtype=np.float32)
def launch_env(id=None):
env = None
if id is None:
# Needed for Running on Sagemaker.
import os
#status = os.system("Xvfb :99 -screen 0 1024x768x24 -ac +extension GLX +render -noreset &")
os.environ['DISPLAY'] = ":99"
# Launch the environment
from gym_duckietown.simulator import Simulator
env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
else:
env = gym.make(id)
return env
def launch_env(id=None):
env = None
if id is None:
from gym_duckietown.simulator import Simulator
env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=False,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
else:
env = gym.make(id)
# Wrappers
env = ResizeWrapper(env)
env = NormalizeWrapper(env)
env = ImgWrapper(env) # to make the images from 160x120x3 into 3x160x120
env = SteeringToWheelVelWrapper(env)
env = ActionWrapper(env)
#env = DtRewardWrapper(env)
return env
def launch_env(map_name='loop_empty'):
from gym_duckietown.simulator import Simulator
env = Simulator(
seed=123, # random seed
map_name=map_name,
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
distortion=True,
)
return env
def init():
env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
return env
def step(self, simulator: Simulator):
"""
Take a step, implemented as a PID controller
"""
# Find the curve point closest to the agent, and the tangent at that point
closest_point, closest_tangent = simulator.closest_curve_point(
simulator.cur_pos, simulator.cur_angle)
iterations = 0
lookup_distance = self.follow_dist
curve_point = None
while iterations < self.max_iterations:
# Project a point ahead along the curve tangent,
# then find the closest point to to that
follow_point = closest_point + closest_tangent * lookup_distance
curve_point, curve_tangent = simulator.closest_curve_point(
follow_point, simulator.cur_angle)
# If we have a valid point on the curve, stop
if curve_point is not None:
break
iterations += 1
lookup_distance *= 0.5
# Compute a normalized vector to the curve point
point_vec = curve_point - simulator.cur_pos
point_vec /= np.linalg.norm(point_vec)
magic = (curve_tangent + point_vec) / np.linalg.norm(
np.linalg.norm(point_vec))
e = np.dot(self.get_right_vec(simulator.cur_angle), magic)
de = e - self.prev_e
self.prev_e = e
steering = self.P * e + self.D * de
return np.clip(np.array([1 + steering, 1 - steering]), 0., 1.)
def create_env(self): self.env = Simulator( seed=48304, map_name=self.map_name, max_steps=self.max_steps, domain_rand=0, camera_width=640, camera_height=480, accept_start_angle_deg=4, full_transparency=True, distortion=True ) self.env.action_space.np_random.seed(48304) return self.env
def launch_and_wrap_env(env_config, seed=3, default_env_id=0):
try:
env_id = env_config.worker_index # config is passed by rllib
except AttributeError as err:
logger.warning(err)
env_id = default_env_id
robot_speed = env_config.get('robot_speed', DEFAULT_ROBOT_SPEED)
# If random robot speed is specified, the robot speed key holds a dictionary
if type(robot_speed) is dict or robot_speed == 'default':
robot_speed = DEFAULT_ROBOT_SPEED # The initial robot speed won't be random
print("our seed of the environment is now {}".format(seed))
# The while loop and try block are necessary to prevent instant training crash from the
# "Exception: Could not find a valid starting pose after 5000 attempts" in duckietown-gym-daffy 5.0.13
spawn_successful = False
while not spawn_successful:
env = Simulator(
seed=seed, # random seed
map_name=resolve_multimap_name(env_config["training_map"], env_id),
max_steps=env_config.get("episode_max_steps", 500),
domain_rand=env_config["domain_rand"],
# dynamics_rand=env_config["dynamics_rand"],
# camera_rand=env_config["camera_rand"],
camera_width=CAMERA_WIDTH,
camera_height=CAMERA_HEIGHT,
accept_start_angle_deg=env_config["accepted_start_angle_deg"],
full_transparency=True,
distortion=env_config["distortion"],
frame_rate=env_config["simulation_framerate"],
frame_skip=env_config["frame_skip"],
robot_speed=robot_speed)
# env = DuckietownEnv(
# map_name=resolve_multimap_name(env_config["training_map"], env_id),
# domain_rand=False,
# draw_bbox=False,
# max_steps=500001,
# seed=seed
# )
assert robot_speed == 1.2
spawn_successful = True
# except Exception as e:
# seed += 1 # Otherwise it selects the same tile in the next attempt
# logger.error("{}; Retrying with new seed: {}".format(e, seed))
logger.debug("Env init successful")
env = wrap_env(env_config, env)
return env
def launch_env(id=None):
if id is None:
from gym_duckietown.simulator import Simulator
env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
else:
env = gym.make(id)
return env
def launch_env(id=None):
from gym_duckietown.simulator import Simulator
env = Simulator(seed=123,
map_name="zigzag_dists",
max_steps=5000001,
domain_rand=True,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4,
full_transparency=True,
distortion=True,
randomize_maps_on_reset=True,
draw_curve=False,
draw_bbox=False,
frame_skip=4)
return env
def launch_env(seed,map_name="loop_empty",id=None):
env = None
if id is None:
# Launch the environment
env = Simulator(
seed=seed, # random seed
map_name=map_name,
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
else:
env = gym.make(id)
return env
def draw_map_gymd(map_name: str, output: AbsDirPath, style: str):
try:
from gym_duckietown.simulator import Simulator
except ImportError:
return
sim = Simulator(
map_name,
enable_leds=True,
domain_rand=False,
num_tris_distractors=0,
camera_width=640,
camera_height=480,
# distortion=True,
color_ground=[0, 0.3, 0], # green
style=style,
)
sim.reset()
logger.info("rendering obs")
img = sim.render_obs()
out = os.path.join(output, "cam.jpg")
save_rgb_to_jpg(img, out)
sim.cur_pos = [-100.0, -100.0, -100.0]
from gym_duckietown.simulator import FrameBufferMemory
td = FrameBufferMemory(width=1024, height=1024)
# noinspection PyProtectedMember
horiz = sim._render_img(
width=td.width,
height=td.height,
multi_fbo=td.multi_fbo,
final_fbo=td.final_fbo,
img_array=td.img_array,
top_down=True,
)
# img = sim.render("top_down")
out = cast(FilePath, os.path.join(output, "top_down.jpg"))
save_rgb_to_jpg(horiz, out)
class DuckietownSimulator(DTROS):
def __init__(self, node_name):
# initialize the DTROS parent class
super(DuckietownSimulator, self).__init__(node_name=node_name,
node_type=NodeType.GENERIC)
# construct publisher
self.cap = cv2.VideoCapture(2)
self.sub = rospy.Subscriber('wheels_driver_node/wheels_cmd',
WheelsCmdStamped, self.callback)
self.pub = rospy.Publisher('camera_node/image/compressed',
CompressedImage,
queue_size=10)
self._cvbr = CvBridge()
rospy.loginfo("Started Duckietown Simulator ROS node...")
def callback(self, msg):
left_wheel = msg.vel_left
right_wheel = msg.vel_right
action = [left_wheel, right_wheel]
observation, reward, done, misc = self._env.step(action)
# self.env.render()
if done:
self._env.reset()
observation = cv2.cvtColor(observation, cv2.COLOR_RGB2BGR)
image_cmpr_msg = self._cvbr.cv2_to_compressed_imgmsg(observation)
self.pub.publish(image_cmpr_msg)
_env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True)
def step(self, action):
vel, angle = action
# Distance between the wheels
baseline = self.unwrapped.wheel_dist
# assuming same motor constants k for both motors
k_r = self.k
k_l = self.k
# adjusting k by gain and trim
k_r_inv = (self.gain + self.trim) / k_r
k_l_inv = (self.gain - self.trim) / k_l
omega_r = (vel + 0.5 * angle * baseline) / self.radius
omega_l = (vel - 0.5 * angle * baseline) / self.radius
# conversion from motor rotation rate to duty cycle
u_r = omega_r * k_r_inv
u_l = omega_l * k_l_inv
# limiting output to limit, which is 1.0 for the duckiebot
u_r_limited = max(min(u_r, self.limit), -self.limit)
u_l_limited = max(min(u_l, self.limit), -self.limit)
vels = np.array([u_l_limited, u_r_limited])
obs, reward, done, info = Simulator.step(self, vels)
mine = {}
mine['k'] = self.k
mine['gain'] = self.gain
mine['train'] = self.trim
mine['radius'] = self.radius
mine['omega_r'] = omega_r
mine['omega_l'] = omega_l
info['DuckietownEnv'] = mine
return obs, reward, done, info
import numpy as np
from ddpg import DDPG
from utils import seed
from args import get_ddpg_args_test
from gym_duckietown.simulator import Simulator
import torch
import cv2
env = Simulator(seed=123,
map_name="zigzag_dists",
max_steps=5000001,
domain_rand=True,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4,
full_transparency=True,
distortion=True,
randomize_maps_on_reset=True,
draw_curve=False,
draw_bbox=True,
frame_skip=4,
draw_DDPG_features=True)
# Set seeds
args = get_ddpg_args_test()
seed(args.seed)
state_dim = env.get_features().shape[0]
action_dim = env.action_space.shape[0]
max_action = float(env.action_space.high[0])
class DuckiegymRosWrapperNode(DTROS):
"""
Run a gym-duckietown simulator, redirect the simulator's image to a ros topic, redirect the wheel commands
to simulator actions.
"""
def __init__(self, node_name):
super(DuckiegymRosWrapperNode,
self).__init__(node_name=node_name, node_type=NodeType.GENERIC)
self.action = [0, 0] # wheel commands for simulator
self.camera_info = self.load_camera_info(
"/data/config/calibrations/camera_intrinsic/default.yaml")
self.bridge = CvBridge()
vehicle_name = os.environ.get("VEHICLE_NAME")
image_topic = "/" + vehicle_name + "/camera_node/image/compressed"
self.pub_img = rospy.Publisher(image_topic, CompressedImage)
camera_info_topic = "/" + vehicle_name + "/camera_node/camera_info"
self.pub_camera_info = rospy.Publisher(camera_info_topic, CameraInfo)
wheels_cmd_topic = "/" + vehicle_name + "/wheels_driver_node/wheels_cmd"
self.sub_wheels_cmd = rospy.Subscriber(wheels_cmd_topic,
WheelsCmdStamped,
self.callback_wheels_cmd,
queue_size=1)
self.sim = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=False,
)
def run_simulator(self):
"""
Main loop of this node, runs simulation loop and camera publishers.
"""
while not rospy.is_shutdown():
observation, reward, done, misc = self.sim.step(self.action)
self.publish_camera_info()
self.publish_camera_image(observation)
self.sim.render()
if done:
self.sim.reset()
def callback_wheels_cmd(self, msg):
"""
Update action variable (parameter for simulator) on callback.
"""
self.action = [msg.vel_left, msg.vel_right]
def publish_camera_image(self, observation):
"""
Publish simulated camera frame as CompressedImage message.
"""
img = self.bridge.cv2_to_compressed_imgmsg(cv2.cvtColor(
observation, cv2.COLOR_RGB2BGR),
dst_format="jpg")
img.header.stamp = rospy.Time.now()
self.pub_img.publish(img)
def publish_camera_info(self):
"""
Publish calibration info about camera.
"""
self.camera_info.header.stamp = rospy.Time.now()
self.pub_camera_info.publish(self.camera_info)
def load_camera_info(self, filename):
"""
Load calibration info about camera from config file.
"""
with open(filename, 'r') as stream:
calib_data = yaml.load(stream)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
return cam_info
#!/usr/bin/env python3
import gym_duckietown
from gym_duckietown.simulator import Simulator
env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
while True:
action = [0.1, 0.1]
observation, reward, done, misc = env.step(action)
#print(observation)
env.render()
if done:
env.reset()
class ROSWrapper(DTROS):
'''
Class that creates a wrapper between the duckietown simulator and the ROS
interface of a fake robot simulated in the host. The node serves as interface
for the following parts:
- Subscribes to the wheels command topic and transforms it into actions in simulation
- Publishes the rendered observations in the simulator to the camera image topic
'''
def __init__(self, node_name):
# initialize the DTROS parent class
super(ROSWrapper, self).__init__(node_name=node_name,
node_type=NodeType.GENERIC)
# construct rendered observation publisher
self.camera_pub = rospy.Publisher('~/' + VEHICLE_NAME +
'/camera_node/image/compressed',
CompressedImage,
queue_size=1)
# Construct subscriber for wheel_cmd topic
self.wheels_cmd_sub = rospy.Subscriber(
'~/' + VEHICLE_NAME + '/wheels_driver_node/wheels_cmd',
WheelsCmdStamped,
self.wheels_cmd_cb,
queue_size=1)
# Initialize the simulator
self.env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
# Create action variable
self.action = [0.0, 0.0]
def wheels_cmd_cb(self, msg):
'''
Callback that maps wheel commands into actions in the simulator.
Creates the simulated robot actions based on the received command
through the main topic in the duckietown infrastructure.
Args:
msg (WheelsCmdStamped): Velocity command
'''
vel_left = msg.vel_left
vel_right = msg.vel_right
self.action = [vel_left, vel_right]
def run(self):
'''
Continuously run the wrapper to map ROS interface with simulator.
This method runs the node, and begins an iterative process where the
image is retrieved from the simulator and published in the camera image topic,
and the wheels command received by subscribing to the wheels_cmd topic is translated
into actions executed in the simulator. The process iterates until the node is terminated
'''
while not rospy.is_shutdown():
# Update the simulator
# the action message is updated every time the wheels_cmd_cb is called
# that is, every time a message arrives.
observation, reward, done, misc = self.env.step(self.action)
# Render the new state
self.env.render()
# Set again action to stop, in case no more messages are being received
self.action = [0.0, 0.0]
if done:
# Reset the simulator when the robot goes out of the road.
self.env.reset()
# Transalte the observation into a CompressedImage message to publish it
bgr_obs = cv2.cvtColor(observation, cv2.COLOR_RGB2BGR)
bridge = CvBridge()
img_msg = bridge.cv2_to_compressed_imgmsg(cvim=bgr_obs,
dst_format="jpg")
# Publish the image in the /image/compressed topic
self.camera_pub.publish(img_msg)
class MyROSWrapperNode(DTROS):
def __init__(self, node_name):
# initialize the DTROS parent class
#color = rospy.get_param('~color')
super(MyROSWrapperNode, self).__init__(node_name=node_name,
node_type=NodeType.GENERIC)
# construct Publisher and Subscriber
self.pub = rospy.Publisher('/fakebot/camera_node/image/compressed',
CompressedImage,
queue_size=10)
self.sub = rospy.Subscriber('/fakebot/wheels_driver_node/wheels_cmd',
WheelsCmdStamped, self.callback)
#self.sub = rospy.Subscriber('chatter', String, self.callback)
self.iter = 0
# create bag files:
# self.bag = bag
self.env = Simulator(
seed=123, # random seed
map_name="loop_empty",
max_steps=500001, # we don't want the gym to reset itself
domain_rand=0,
camera_width=640,
camera_height=480,
accept_start_angle_deg=4, # start close to straight
full_transparency=True,
distortion=True,
)
self.br = CvBridge()
self.right_wheel = 0
self.left_wheel = 0
def callback(self, data):
if data:
# update wheel command to action
self.right_wheel = data.vel_right
self.left_wheel = data.vel_left
action = [self.left_wheel, self.right_wheel]
print("I got command:", action)
observation, reward, done, misc = self.env.step(action)
# env.render()
# print("observation.shape:",observation.shape )
# observation.shape: (480, 640, 3)
# print("observation.type:", type(observation))
# observation.type: <class 'numpy.ndarray'>
# publish image to viewer
# np_arr = np.fromstring(data.data, np.uint8)
# img = cv2.imdecode(observation, cv2.IMREAD_COLOR)
img = cv2.cvtColor(np.asarray(observation), cv2.COLOR_RGB2BGR)
compressed_img_msg = self.br.cv2_to_compressed_imgmsg(
img, dst_format='jpg')
self.pub.publish(compressed_img_msg)
if done:
self.env.reset()
else:
rospy.loginfo("waiting for Publisher")
def move(self, velocities):
obs, reward, done, info = Simulator.step(self, np.array(velocities))
return obs # , reward, done
def make_scenario_main(args=None):
setup_logging()
parser = argparse.ArgumentParser()
# parser.add_argument("--config", help="Configuration", required=True)
parser.add_argument("-o",
"--output",
help="Destination directory",
required=True)
parser.add_argument("-n",
"--num",
type=int,
help="Number of scenarios to generate",
required=True)
parser.add_argument(
"--styles",
default="synthetic-F",
help=
"Draw preview in various styles, comma separated. (needs gym duckietown)",
)
parsed, rest = parser.parse_known_args(args=args)
if parsed.styles == "all":
styles = ["synthetic", "synthetic-F", "photos", "smooth"]
else:
styles = parsed.styles.split(",")
for config in rest:
basename = os.path.basename(config).split(".")[0]
data = read_ustring_from_utf8_file(config)
interpreted = yaml.load(data, Loader=yaml.Loader)
n: int = parsed.num
output: str = parsed.output
params: ScenarioGenerationParam = object_from_ipce(
interpreted, ScenarioGenerationParam, iedo=iedo)
for i in range(n):
scenario_name = f"{basename}-{i:03d}"
yaml_str = _get_map_yaml(params.map_name)
scenario = make_scenario(
yaml_str=yaml_str,
scenario_name=scenario_name,
only_straight=params.only_straight,
min_dist=params.min_dist,
delta_y_m=params.delta_y_m,
robots_npcs=params.robots_npcs,
robots_parked=params.robots_parked,
robots_pcs=params.robots_pcs,
nduckies=params.nduckies,
duckie_min_dist_from_other_duckie=params.
duckie_min_dist_from_other_duckie,
duckie_min_dist_from_robot=params.duckie_min_dist_from_robot,
duckie_y_bounds=params.duckie_y_bounds,
delta_theta_rad=np.deg2rad(params.theta_tol_deg),
pc_robot_protocol=params.pc_robot_protocol,
npc_robot_protocol=params.npc_robot_protocol,
tree_density=params.tree_density,
tree_min_dist=params.tree_min_dist,
)
# styles = ['smooth']
for style in styles:
try:
from gym_duckietown.simulator import Simulator
except ImportError:
logger.warning(traceback.format_exc())
# noinspection PyUnusedLocal
Simulator = None
else:
sim = Simulator(
"4way",
enable_leds=True,
domain_rand=False,
num_tris_distractors=0,
camera_width=640,
camera_height=480,
# distortion=True,
color_ground=[0, 0.3, 0], # green
style=style,
)
logger.info("resetting")
sim.reset()
m = cast(
dw.MapFormat1,
yaml.load(scenario.environment, Loader=yaml.Loader))
if "objects" not in m:
m["objects"] = {}
obs: Dict[str, object] = m["objects"]
for robot_name, srobot in scenario.robots.items():
st = dw.SE2Transform.from_SE2(
pose_from_friendly(srobot.configuration.pose))
obs[robot_name] = dict(kind="duckiebot",
pose=st.as_json_dict(),
height=0.12,
color=srobot.color)
for duckie_name, duckie in scenario.duckies.items():
st = dw.SE2Transform.from_SE2(
pose_from_friendly(duckie.pose))
obs[duckie_name] = dict(kind="duckie",
pose=st.as_json_dict(),
height=0.08,
color=duckie.color)
sim._interpret_map(m)
sim.reset()
logger.info("rendering obs")
img = sim.render_obs()
out = os.path.join(output, scenario_name, style, "cam.png")
save_rgb_to_png(img, out)
out = os.path.join(output, scenario_name, style, "cam.jpg")
save_rgb_to_jpg(img, out)
sim.cur_pos = [-100.0, -100.0, -100.0]
from gym_duckietown.simulator import FrameBufferMemory
td = FrameBufferMemory(width=1024, height=1024)
horiz = sim._render_img(
width=td.width,
height=td.height,
multi_fbo=td.multi_fbo,
final_fbo=td.final_fbo,
img_array=td.img_array,
top_down=True,
)
# img = sim.render("top_down")
out = cast(
FilePath,
os.path.join(output, scenario_name, style,
"top_down.jpg"))
save_rgb_to_jpg(horiz, out)
out = cast(
FilePath,
os.path.join(output, scenario_name, style,
"top_down.png"))
save_rgb_to_png(horiz, out)
dw.Tile.style = style
dm = interpret_scenario(scenario)
output_dir = os.path.join(output, scenario_name, style)
dw.draw_static(dm, output_dir=output_dir)
export_gltf(dm, output_dir, background=False)
scenario_struct = ipce_from_object(scenario, Scenario, ieso=ieso)
scenario_yaml = yaml.dump(scenario_struct)
filename = os.path.join(output, scenario_name, f"scenario.yaml")
write_ustring_to_utf8_file(scenario_yaml, filename)
'--show-observations',
action='store_true',
help='Show the cropped, downscaled observations, used as the policy input')
args = parser.parse_args()
if args.top_view:
render_mode = 'top_down'
else:
render_mode = 'human'
env = Simulator(
seed=1234,
map_name=args.map_name,
domain_rand=args.domain_rand,
dynamics_rand=args.domain_rand,
camera_rand=args.domain_rand,
distortion=args.distortion,
accept_start_angle_deg=1,
full_transparency=True,
draw_curve=args.draw_curve,
# user_tile_start=[2,1]
)
env = AIDOWrapper(env)
if args.show_observations:
env = ClipImageWrapper(env, top_margin_divider=3)
# env = ResizeWrapper(env, (84, 84))
# env = MotionBlurWrapper(env)
# env = RandomFrameRepeatingWrapper(env, {"frame_repeating": 0.33333})
# env = ObstacleSpawningWrapper(env, {'obstacles': {'duckie': {'density': 0.35,
# 'static': True},
# 'duckiebot': {'density': 0.25,
# 'static': True},