def reset(self, soft=False):
self._reset_world(soft=soft)
# reset actions
self.control = carla.VehicleControl()
self.prev_actions = self.DEFAULT_ACTIONS
observation = env_utils.replace_nans(self._get_observation(sensors_data={}))
return observation
def execute(self, actions, record_path: str = None):
self.prev_actions = actions
pygame.event.get()
self.clock.tick()
sensors_data = self.world_step(actions, record_path=record_path)
reward = self.reward(actions)
terminal = self.terminal_condition()
next_state = env_utils.replace_nans(self._get_observation(sensors_data))
self.collision_penalty = 0.0
return next_state, terminal, reward