def main():
environment = RacecarZEDGymEnv(renders=True)
targetVelocitySlider = environment._p.addUserDebugParameter(
"wheelVelocity", -1, 1, 0)
steeringSlider = environment._p.addUserDebugParameter("steering", -1, 1, 0)
while (True):
targetVelocity = environment._p.readUserDebugParameter(
targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction = 0
if (targetVelocity < -0.33):
discreteAction = 0
else:
if (targetVelocity > 0.33):
discreteAction = 6
else:
discreteAction = 3
if (steeringAngle > -0.17):
if (steeringAngle > 0.17):
discreteAction = discreteAction + 2
else:
discreteAction = discreteAction + 1
action = discreteAction
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")
print(obs)
def main():
environment = RacecarZEDGymEnv(renders=True, isDiscrete=isDiscrete)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity", -1, 1, 0)
steeringSlider = environment._p.addUserDebugParameter("steering", -1, 1, 0)
while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
if (isDiscrete):
discreteAction = 0
if (targetVelocity < -0.33):
discreteAction = 0
else:
if (targetVelocity > 0.33):
discreteAction = 6
else:
discreteAction = 3
if (steeringAngle > -0.17):
if (steeringAngle > 0.17):
discreteAction = discreteAction + 2
else:
discreteAction = discreteAction + 1
action = discreteAction
else:
action = [targetVelocity, steeringAngle]
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
def main():
env = RacecarZEDGymEnv(renders=True)
act = deepq.load("racecar_zed_model.pkl")
print(act)
while True:
obs, done = env.reset(), False
print("===================================")
print("obs")
print(obs)
episode_rew = 0
while not done:
env.render()
obs, rew, done, _ = env.step(act(obs[None])[0])
episode_rew += rew
print("Episode reward", episode_rew)
def main():
env = RacecarZEDGymEnv(renders=False, isDiscrete=True)
model = deepq.models.cnn_to_mlp(convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
hiddens=[256],
dueling=False)
act = deepq.learn(env,
q_func=model,
lr=1e-3,
max_timesteps=10000,
buffer_size=50000,
exploration_fraction=0.1,
exploration_final_eps=0.02,
print_freq=10,
callback=callback)
print("Saving model to racecar_zed_model.pkl")
act.save("racecar_zed_model.pkl")
def main():
env = RacecarZEDGymEnv(renders=True)
act = deepq.load("racecar_zed_model.pkl")
print(act)
while True:
obs, done = env.reset(), False
print("===================================")
print("obs")
print(obs)
episode_rew = 0
while not done:
env.render()
obs, rew, done, _ = env.step(act(obs[None])[0])
episode_rew += rew
print("Episode reward", episode_rew)
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
print ("hello")
environment = RacecarZEDGymEnv(renders=True)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction = 0
if (targetVelocity<-0.33):
discreteAction=0
else:
if (targetVelocity>0.33):
discreteAction=6
else:
discreteAction=3
if (steeringAngle>-0.17):
if (steeringAngle>0.17):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction