def env_fn():
cars = [Car.HighPerf(v_max=2.0)]
for _ in range(1, num_cars):
cars.append(Car.Simple(v_max=1.2))
bots = [pilots[(rank + i) % len(pilots)](cars[i], cars) for i in range(1, len(cars))]
env = BeliefDriveItEnv(cars[0], bots, time_limit, noisy=True, random_position=True, bot_speed_deviation=0.15)
env.set_training_mode(distance_growth)
env.seed(seed + rank)
env = bench.Monitor(env, logger.get_dir() and osp.join(logger.get_dir(), str(rank)))
return env
def create_env(time_limit, nbots, seed):
cars = [Car.HighPerf(Color.green, v_max=2.0)]
for i in range(nbots):
cars.append(Car.Simple(bot_colors[i], v_max=1.2))
bots = [
pilots[(i + rank) % len(pilots)](cars[i], cars)
for i in range(1, len(cars))
]
env = BeliefDriveItEnv(cars[0],
bots,
time_limit,
noisy=True,
random_position=True,
bot_speed_deviation=0.15)
env.seed(seed)
# env = bench.Monitor(env, logger.get_dir() and osp.join(logger.get_dir(), str(rank)))
return env
