def __init__(self, level=0, exe_path="self_start", host='127.0.0.1', port=9091, frame_skip=2, start_delay=5.0, cam_resolution=(120,160,3)):
print("starting DonkeyGym env")
self.viewer = None
self.proc = None
# start Unity simulation subprocess
self.proc = DonkeyUnityProcess()
# the unity sim server will bind to the host ip given
self.proc.start(exe_path, host='0.0.0.0', port=port)
# wait for simulator to startup and begin listening
time.sleep(start_delay)
# start simulation com
self.viewer = DonkeyUnitySimContoller(level=level, host=host, port=port, cam_resolution=cam_resolution)
# steering and throttle
self.action_space = spaces.Box(low=np.array([self.STEER_LIMIT_LEFT, self.THROTTLE_MIN]),
high=np.array([self.STEER_LIMIT_RIGHT, self.THROTTLE_MAX]), dtype=np.float32)
# camera sensor data
self.observation_space = spaces.Box(
0, self.VAL_PER_PIXEL, self.viewer.get_sensor_size(), dtype=np.uint8)
# simulation related variables.
self.seed()
# Frame Skipping
self.frame_skip = frame_skip
# wait until loaded
self.viewer.wait_until_loaded()
def __init__(self, level, time_step=0.05, frame_skip=2):
print("starting DonkeyGym env")
# start Unity simulation subprocess
self.proc = DonkeyUnityProcess()
try:
exe_path = os.environ['DONKEY_SIM_PATH']
except:
print("Missing DONKEY_SIM_PATH environment var. you must start sim manually")
exe_path = "self_start"
try:
port_offset = 0
# if more than one sim running on same machine set DONKEY_SIM_MULTI = 1
random_port = os.environ['DONKEY_SIM_MULTI'] == '1'
if random_port:
port_offset = random.randint(0, 1000)
except:
pass
try:
port = int(os.environ['DONKEY_SIM_PORT']) + port_offset
except:
port = 9091 + port_offset
print("Missing DONKEY_SIM_PORT environment var. Using default:", port)
try:
headless = os.environ['DONKEY_SIM_HEADLESS'] == '1'
except:
print("Missing DONKEY_SIM_HEADLESS environment var. Using defaults")
headless = False
self.proc.start(exe_path, headless=headless, port=port)
# start simulation com
self.viewer = DonkeyUnitySimContoller(
level=level, time_step=time_step, port=port)
# steering and throttle
self.action_space = spaces.Box(low=np.array([self.STEER_LIMIT_LEFT, self.THROTTLE_MIN]),
high=np.array([self.STEER_LIMIT_RIGHT, self.THROTTLE_MAX]), dtype=np.float32)
# camera sensor data
self.observation_space = spaces.Box(
0, self.VAL_PER_PIXEL, self.viewer.get_sensor_size(), dtype=np.uint8)
# simulation related variables.
self.seed()
# Frame Skipping
self.frame_skip = frame_skip
# wait until loaded
self.viewer.wait_until_loaded()
def __init__(self, level, conf=None):
print("starting DonkeyGym env")
self.viewer = None
self.proc = None
if conf is None:
conf = {}
conf["level"] = level
# ensure defaults are supplied if missing.
supply_defaults(conf)
# set logging level
logging.basicConfig(level=conf["log_level"]) # pytype: disable=key-error
logger.debug("DEBUG ON")
logger.debug(conf)
# start Unity simulation subprocess
self.proc = None
if "exe_path" in conf:
self.proc = DonkeyUnityProcess()
# the unity sim server will bind to the host ip given
self.proc.start(conf["exe_path"],
host="0.0.0.0",
port=conf["port"])
# wait for simulator to startup and begin listening
time.sleep(conf["start_delay"])
# start simulation com
self.viewer = DonkeyUnitySimContoller(conf=conf)
# steering and throttle
self.action_space = spaces.Box(
low=np.array([self.STEER_LIMIT_LEFT, self.THROTTLE_MIN]),
high=np.array([self.STEER_LIMIT_RIGHT, self.THROTTLE_MAX]),
dtype=np.float64, # debug
)
# camera sensor data
self.observation_space = spaces.Box(0,
self.VAL_PER_PIXEL,
self.viewer.get_sensor_size(),
dtype=np.uint8)
# simulation related variables.
self.seed()
# Frame Skipping
self.frame_skip = conf["frame_skip"] # pytype: disable=key-error
# wait until loaded
self.viewer.wait_until_loaded()