def __init__(self):
self.fluidsim = fluids.FluidSim(**FLUIDS_ARGS)
self.action_space = spaces.Box(np.array([-1, -1]), np.array([1, 1]))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(OBS_W, OBS_W, 3),
dtype=np.uint8)
self.fluids_action_type = fluids.SteeringAccAction
def __init__(self, fluids_args, obs_w, state_args, time_limit):
self.fluidsim = fluids.FluidSim(**fluids_args)
self.action_space = spaces.Box(np.array([-1, -1]), np.array([1, 1]))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(obs_w, obs_w, 3),
dtype=np.uint8)
self.fluids_action_type = fluids.SteeringAccAction
self.state_args = state_args
self.time_limit = time_limit
def __init__(self, obs_space):
fluids_args = {
"visualization_level": 1,
"fps": 30,
"obs_args": {
"obs_dim": OBS_W
},
"obs_space": obs_space,
"background_control": fluids.BACKGROUND_CSP
}
self.fluidsim = fluids.FluidSim(**fluids_args)
self.action_space = spaces.Box(np.array([-1, -1]), np.array([1, 1]))
self.observation_space = spaces.Box(low=0,
high=255,
shape=(OBS_W, OBS_W, 3),
dtype=np.uint8)
self.fluids_action_type = fluids.SteeringAccAction
import fluids
import pygame
import numpy as np
simulator = fluids.FluidSim(
visualization_level=1, # How much debug visualization you want to enable. Set to 0 for no vis
fps=0, # If set to non 0, caps the FPS. Target is 30
obs_space=fluids.OBS_GRID, # OBS_BIRDSEYE, OBS_GRID, or OBS_NONE
background_control=fluids.BACKGROUND_CSP,
) # BACKGROUND_CSP or BACKGROUND_NULL
state = fluids.State(
layout=fluids.STATE_CITY,
background_cars=10, # How many background cars
background_peds=10,
controlled_cars=1, # How many cars to control. Set to 0 for background cars only
)
simulator.set_state(state)
car_keys = simulator.get_control_keys()
while True:
actions = {}
# Uncomment any of these lines.
# VelocityAction is vel for car to move along trajectory
# SteeringAction is steer, acc control
# KeyboardAction is use keyboard input
# SteeringVelAction is steer, vel control
fluids_print(" Num controlled peds : {}".format(args.p))
fluids_print(" Visualization level : {}".format(args.v))
fluids_print(" Observation type : {}".format(args.o))
fluids_print(" Scene layout : {}".format(args.state))
fluids_print(" Simulation time : {}".format(
"unlimited" if not args.time else args.time))
fluids_print("")
obs = {
"none": fluids.OBS_NONE,
"birdseye": fluids.OBS_BIRDSEYE,
"grid": fluids.OBS_GRID
}[args.o]
simulator = fluids.FluidSim(visualization_level=args.v,
fps=0,
obs_space=obs,
background_control=fluids.BACKGROUND_CSP)
state = fluids.State(layout=args.state,
background_cars=args.b,
controlled_cars=args.c,
background_peds=args.p)
simulator.set_state(state)
t = 0
while not args.time or t < args.time:
actions = {
k: fluids.KeyboardAction()
for k in simulator.get_control_keys()
}
"enabled" if args.trafficlights else "disabled"))
fluids_print(" Max FPS : {}".format(
"unbound" if not args.fps else args.fps))
fluids_print("")
obs = {
"none": fluids.OBS_NONE,
"birdseye": fluids.OBS_BIRDSEYE,
"grid": fluids.OBS_GRID,
"qlidar": fluids.OBS_QLIDAR
}[args.o]
simulator = fluids.FluidSim(visualization_level=args.v,
fps=args.fps,
obs_space=obs,
screen_dim=args.screen_dim,
background_control=fluids.BACKGROUND_CSP)
state = fluids.State(layout=args.state,
background_cars=args.b,
controlled_cars=args.c,
background_peds=args.p,
use_traffic_lights=args.trafficlights,
use_ped_lights=args.pedlights)
simulator.set_state(state)
if args.datasaver != "":
data_saver = fluids.DataSaver(fluid_sim=simulator,
file_path=args.datasaver,