def get_spec(self): self._make_sure_inited() ncmds = self.discdds.get_num_commands() cmd = make_streamels_finite_commands(ncommands=ncmds, default=0) cmd_spec = StreamSpec(id_stream=None, streamels=cmd, extra={}) obs_spec = StreamSpec(id_stream=None, streamels=make_streamels_rgb_float(self.shape), extra={}) return BootSpec(obs_spec, cmd_spec)
def __init__(self, world=None, id_world=None, vehicle=None, id_vehicle=None, dt=VehiclesConstants.DEFAULT_SIMULATION_DT, **kwargs): self.dt = dt if not ((world is not None) ^ (id_world is not None)): raise ValueError('Specify exactly one of "world" and "id_world".') if not ((vehicle is not None) ^ (id_vehicle is not None)): raise ValueError('Specify exactly one of "vehicle" ' 'and "id_vehicle".') vehicles = get_conftools_vehicles() worlds = get_conftools_worlds() # TODO: user shortcuts if vehicle is not None: id_vehicle = vehicle['id'] vehicle_spec = vehicle # TODO: check well formed vehicle = vehicles.instance_spec(vehicle) else: vehicle_spec = vehicles[id_vehicle] vehicle = vehicles.instance(id_vehicle) if world is not None: id_world = world['id'] # TODO: check well formed world_spec = world world = worlds.instance_spec(world) else: world_spec = worlds[id_world] world = worlds.instance(id_world) VehicleSimulation.__init__(self, vehicle, world, **kwargs) cmd_spec = StreamSpec.from_yaml( self.vehicle.dynamics.get_commands_spec()) self.last_commands = cmd_spec.get_default_value() if len(self.vehicle.sensors) == 0: raise Exception('Vehicle %r has no sensors defined.' % id_vehicle) obs_spec = create_obs_spec(self.vehicle) self._boot_spec = BootSpec(obs_spec=obs_spec, cmd_spec=cmd_spec, id_robot=id_vehicle) # XXX: id, desc, extra? self.commands_source = BootOlympicsConstants.CMD_SOURCE_REST self.boot_episode_started = False # Save for later self.id_world = id_world self.id_vehicle = id_vehicle self.world_spec = world_spec self.vehicle_spec = vehicle_spec