class DonkeyUnitySimContoller:
def __init__(self, conf: Dict[str, Any]):
logger.setLevel(conf["log_level"])
self.address = (conf["host"], conf["port"])
self.handler = DonkeyUnitySimHandler(conf=conf)
self.client = SimClient(self.address, self.handler)
def set_car_config(
self,
body_style: str,
body_rgb: Tuple[int, int, int],
car_name: str,
font_size: int,
) -> None:
self.handler.send_car_config(body_style, body_rgb, car_name, font_size)
def set_cam_config(self, **kwargs) -> None:
self.handler.send_cam_config(**kwargs)
def set_reward_fn(self, reward_fn: Callable) -> None:
self.handler.set_reward_fn(reward_fn)
def set_episode_over_fn(self, ep_over_fn: Callable) -> None:
self.handler.set_episode_over_fn(ep_over_fn)
def wait_until_loaded(self) -> None:
while not self.handler.loaded:
logger.warning("waiting for sim to start..")
time.sleep(3.0)
def reset(self) -> None:
self.handler.reset()
def get_sensor_size(self) -> Tuple[int, int, int]:
return self.handler.get_sensor_size()
def take_action(self, action: np.ndarray):
self.handler.take_action(action)
def observe(self) -> Tuple[np.ndarray, float, bool, Dict[str, Any]]:
return self.handler.observe()
def quit(self) -> None:
self.client.stop()
def exit_scene(self) -> None:
self.handler.send_exit_scene()
def render(self, mode: str) -> None:
pass
def is_game_over(self) -> bool:
return self.handler.is_game_over()
def calc_reward(self, done: bool) -> float:
return self.handler.calc_reward(done)
def __init__(self, conf):
logger.setLevel(conf["log_level"])
self.address = (conf["host"], conf["port"])
self.handler = DonkeyUnitySimHandler(conf=conf)
self.client = SimClient(self.address, self.handler)
class DonkeyUnitySimContoller:
def __init__(self, conf):
logger.setLevel(conf["log_level"])
self.address = (conf["host"], conf["port"])
self.handler = DonkeyUnitySimHandler(conf=conf)
self.client = SimClient(self.address, self.handler)
def set_car_config(self, body_style, body_rgb, car_name, font_size):
self.handler.send_car_config(body_style, body_rgb, car_name, font_size)
def set_random_start_config(self, flag):
self.handler.send_random_start_config(flag)
def set_cam_config(self, **kwargs):
self.handler.send_cam_config(**kwargs)
def set_reward_fn(self, reward_fn):
self.handler.set_reward_fn(reward_fn)
def set_episode_over_fn(self, ep_over_fn):
self.handler.set_episode_over_fn(ep_over_fn)
def wait_until_loaded(self):
while not self.handler.loaded:
logger.warning("waiting for sim to start..")
time.sleep(3.0)
def reset(self):
self.handler.reset()
def get_sensor_size(self):
return self.handler.get_sensor_size()
def take_action(self, action):
self.handler.take_action(action)
def observe(self):
return self.handler.observe()
def quit(self):
self.client.stop()
def exit_scene(self):
self.handler.send_exit_scene()
def render(self, mode):
pass
def is_game_over(self):
return self.handler.is_game_over()
def calc_reward(self, done):
return self.handler.calc_reward(done)
class DonkeyUnitySimContoller():
def __init__(self,
level,
host='127.0.0.1',
port=9090,
max_cte=5.0,
loglevel='INFO',
cam_resolution=(120, 160, 3)):
logger.setLevel(loglevel)
self.address = (host, port)
self.handler = DonkeyUnitySimHandler(level,
max_cte=max_cte,
cam_resolution=cam_resolution)
self.client = SimClient(self.address, self.handler)
def set_car_config(self, body_style, body_rgb, car_name, font_size):
self.handler.send_car_config(body_style, body_rgb, car_name, font_size)
def set_cam_config(self, **kwargs):
self.handler.send_cam_config(**kwargs)
def wait_until_loaded(self):
while not self.handler.loaded:
logger.warning("waiting for sim to start..")
time.sleep(3.0)
def reset(self):
self.handler.reset()
def get_sensor_size(self):
return self.handler.get_sensor_size()
def take_action(self, action):
self.handler.take_action(action)
def observe(self):
return self.handler.observe()
def quit(self):
self.client.stop()
def render(self, mode):
pass
def is_game_over(self):
return self.handler.is_game_over()
def calc_reward(self, done):
return self.handler.calc_reward(done)
def go(filename,
address,
constant_throttle=0,
num_cars=1,
image_cb=None,
rand_seed=None):
print("loading model", filename)
model = load_model(filename)
# In this mode, looks like we have to compile it
model.compile("sgd", "mse")
clients = []
for _ in range(0, num_cars):
# setup the clients
handler = DonkeySimMsgHandler(model,
constant_throttle,
image_cb=image_cb,
rand_seed=rand_seed)
client = SimClient(address, handler)
clients.append(client)
while clients_connected(clients):
try:
time.sleep(0.02)
for client in clients:
client.msg_handler.update()
except KeyboardInterrupt:
# unless some hits Ctrl+C and then we get this interrupt
print('stopping')
break
def __init__(self,
level,
host='127.0.0.1',
port=9090,
max_cte=1.0,
loglevel='INFO',
cam_resolution=(120, 160, 3)):
logger.setLevel(loglevel)
self.address = (host, port)
self.handler = DonkeyUnitySimHandler(level,
max_cte=max_cte,
cam_resolution=cam_resolution)
self.client = SimClient(self.address, self.handler)
def go(filename, address, constant_throttle, gif):
model = load_model(filename, compile=False)
# In this mode, looks like we have to compile it
model.compile("sgd", "mse")
movie_handler = None
if gif != "none":
movie_handler = GifCreator(gif)
# setup the server
handler = DonkeySimMsgHandler(model, constant_throttle, movie_handler)
client = SimClient(address, handler)
while client.is_connected():
try:
time.sleep(1.0)
except KeyboardInterrupt:
# unless some hits Ctrl+C and then we get this interrupt
print("stopping")
break
