def run_path_follower(args, camera_rigs):
"""
Runs the C++ PID-based path follower agent which uses a reference
spline in the center of the lane, and speed annotations on tight turns
to drive.
Or on new maps a behavior tree based agent is used with communication
between agents.
Refer to https://github.com/deepdrive/deepdrive-sim/tree/b21e0a0bf8cec60538425fa41b5fc5ee28142556/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent
"""
done = False
gym_env = None
try:
sim_args = get_sim_args_from_command_args(args)
if sim_args is not None:
sim_args = sim_args.to_dict()
else:
sim_args = {}
cameras = camera_rigs
if isinstance(camera_rigs[0], list):
cameras = cameras[0]
sim_args['cameras'] = cameras
gym_env = sim.start(**sim_args)
log.info('Path follower drive mode')
episode_num = 0
info = {}
def should_stop(index, step_info):
if dbox(step_info).should_close:
return True
elif args.max_episodes:
return index >= args.max_episodes
else:
return False
while not should_stop(episode_num, info):
episode_num += 1
done = False
while not done:
action = sim.action(has_control=False)
obz, reward, done, info = gym_env.step(action)
if done:
gym_env.reset()
except KeyboardInterrupt:
log.info('keyboard interrupt detected, closing')
except Exception as e:
log.error('Error running agent. %s', e)
print(traceback.format_exc())
else:
log.info('Last episode complete, closing')
finally:
if gym_env:
gym_env.close()
def main():
# TODO: Add some asserts and get working on Jenkins
env = sim.start(is_sync=True)
forward = sim.action(throttle=1, steering=0, brake=0)
done = False
i = 0
while 1:
i += 1
observation, reward, done, info = env.step(forward)
if i % 10 == 0:
env.reset()
def main():
env = sim.start(
# map can be canyons, kevindale, kevindale_bare, or jamestown
map='kevindale_bare',
# scenario can be 0 => 5 - Scenario descriptions:
# https://gist.github.com/crizCraig/855a5cc4bc96fc2765cb9bf5d6f953b4
scenario_index=1)
forward = sim.action(throttle=0.75, steering=0, brake=0)
done = False
while not done:
observation, reward, done, info = env.step(forward)
env.close()