def load_scenario(self,
scenario,
agent=None,
agent_leaderboard_parsing=False):
"""
Load a new scenario
"""
if agent_leaderboard_parsing:
from leaderboard.autoagents.agent_wrapper import AgentWrapper
self._reset()
self._agent = AgentWrapper(agent) if agent else None
if self._agent is not None:
self._sync_mode = True
self.scenario_class = scenario
self.scenario = scenario.scenario
self.scenario_tree = self.scenario.scenario_tree
self.ego_vehicles = scenario.ego_vehicles
self.other_actors = scenario.other_actors
# To print the scenario tree uncomment the next line
# py_trees.display.render_dot_tree(self.scenario_tree)
if self._agent is not None:
self._agent.setup_sensors(self.ego_vehicles[0], self._debug_mode)
def load_scenario(self, scenario, agent=None):
"""
Load a new scenario
"""
self._reset()
self._agent = AgentWrapper(agent) if agent else None
self.scenario_class = scenario
self.scenario = scenario.scenario
self.scenario_tree = self.scenario.scenario_tree
self.ego_vehicles = scenario.ego_vehicles
self.other_actors = scenario.other_actors
CarlaDataProvider.register_actors(self.ego_vehicles)
CarlaDataProvider.register_actors(self.other_actors)
# To print the scenario tree uncomment the next line
# py_trees.display.render_dot_tree(self.scenario_tree)
if self._agent is not None:
self._agent.setup_sensors(self.ego_vehicles[0], self._debug_mode)
# generate ego vehicle
blueprint_library = world.get_blueprint_library()
bp = random.choice(blueprint_library.filter('vehicle'))
if bp.has_attribute('color'):
color = random.choice(bp.get_attribute('color').recommended_values)
bp.set_attribute('color', color)
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.spawn_actor(bp, transform)
actor_list.append(vehicle)
# set agent
# a_agent = HumanAgent(path_to_conf_file="")
a_agent = ImitationAgent(vehicle, city_name, True)
work_agent = AgentWrapper(a_agent)
work_agent.setup_sensors(vehicle)
hic = HumanInterface()
clock = pygame.time.Clock()
while True:
# game loop
world = CarlaDataProvider.get_world()
if world:
v = vehicle.get_velocity()
a_agent.current_speed = math.sqrt(v.x**2 + v.y**2 + v.z**2)
print('speed:', a_agent.current_speed)
snapshot = world.get_snapshot()
if snapshot:
timestamp = snapshot.timestamp