def reset(self):
self.fluidsim.set_state(fluids.State(**self.state_args))
car_keys = list(self.fluidsim.get_control_keys())
assert len(car_keys) == 1
obs = self.fluidsim.get_observations(car_keys)
return obs[car_keys[0]].get_array()
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
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,
batch_size=4)
simulator.set_data_saver(data_saver)
t = 0
while not args.time or t < args.time:
actions = {
k: fluids.KeyboardAction()
"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()
}
rew = simulator.step(actions)
obs = simulator.get_observations(simulator.get_control_keys())
simulator.render()
t = t + 1
def reset(self):
self.fluidsim.set_state(fluids.State(**STATE_ARGS))
car_keys = list(self.fluidsim.get_control_keys())
assert (len(car_keys) == 1)
obs = self.fluidsim.get_observations(car_keys)
return obs[car_keys[0]].get_array()
