def __init__(self, host, port):
self.driving_env = DrivingSimulatorEnv(
address=host,
port=port,
backend_cmds=gen_backend_cmds(),
defs_obs=[('/training/image/compressed',
'sensor_msgs.msg.CompressedImage'),
('/decision_result', 'std_msgs.msg.Int16')],
defs_reward=[
('/rl/current_road_validity', 'std_msgs.msg.Int16'),
('/rl/entering_intersection', 'std_msgs.msg.Bool'),
('/rl/car_velocity_front', 'std_msgs.msg.Float32'),
('/rl/last_on_opposite_path', 'std_msgs.msg.Int16'),
('/rl/on_biking_lane', 'std_msgs.msg.Bool'),
('/rl/obs_factor', 'std_msgs.msg.Float32'),
('/rl/distance_to_longestpath', 'std_msgs.msg.Float32'),
],
defs_action=[('/autoDrive_KeyboardMode', 'std_msgs.msg.Char')],
rate_action=10.0,
window_sizes={
'obs': 3,
'reward': 3
},
buffer_sizes={
'obs': 3,
'reward': 3
},
# should be wrapped
func_compile_obs=func_compile_obs,
func_compile_reward=func_compile_reward,
func_compile_action=func_compile_action,
step_delay_target=0.5)
env = DrivingSimulatorEnv(
address="10.31.40.197",
port='10024',
# address='localhost', port='22224',
backend_cmds=gen_backend_cmds(),
defs_obs=[('/training/image/compressed',
'sensor_msgs.msg.CompressedImage'),
('/decision_result', 'std_msgs.msg.Int16')],
defs_reward=[
('/rl/has_obstacle_nearby', 'std_msgs.msg.Bool'),
('/rl/distance_to_longestpath', 'std_msgs.msg.Float32'),
('/rl/car_velocity', 'std_msgs.msg.Float32'),
('/rl/last_on_opposite_path', 'std_msgs.msg.Int16'),
('/rl/on_pedestrian', 'std_msgs.msg.Bool'),
('/rl/obs_factor', 'std_msgs.msg.Float32'),
],
defs_action=[('/autoDrive_KeyboardMode', 'std_msgs.msg.Char')],
rate_action=10.0,
window_sizes={
'obs': 2,
'reward': 3
},
buffer_sizes={
'obs': 2,
'reward': 3
},
func_compile_obs=func_compile_obs,
func_compile_reward=func_compile_reward,
func_compile_action=func_compile_action,
step_delay_target=0.5,
is_dummy_action=False)
]
return backend_cmds
env = DrivingSimulatorEnv(
address="10.31.40.197", port='9004',
# address='localhost', port='22224',
backend_cmds=gen_backend_cmds(),
defs_obs=[
('/training/image/compressed', 'sensor_msgs.msg.CompressedImage'),
('/decision_result', 'std_msgs.msg.Int16')
],
defs_reward=[
('/rl/has_obstacle_nearby', 'std_msgs.msg.Bool'),
('/rl/distance_to_longestpath', 'std_msgs.msg.Float32'),
('/rl/car_velocity', 'std_msgs.msg.Float32'),
('/rl/last_on_opposite_path', 'std_msgs.msg.Int16'),
('/rl/on_pedestrian', 'std_msgs.msg.Bool'),
('/rl/obs_factor', 'std_msgs.msg.Float32'),
],
defs_action=[('/autoDrive_KeyboardMode', 'std_msgs.msg.Char')],
rate_action=10.0,
window_sizes={'obs': 2, 'reward': 3},
buffer_sizes={'obs': 2, 'reward': 3},
func_compile_obs=func_compile_obs,
func_compile_reward=func_compile_reward,
func_compile_action=func_compile_action,
step_delay_target=0.5,
is_dummy_action=True)
# TODO: define these Gym related params insode DrivingSimulatorEnv
env.observation_space = Box(low=0, high=255, shape=(350, 350, 3))
env.reward_range = (-np.inf, np.inf)