def env_fn(): cars = [Car.HighPerf(v_max=2.0)] for _ in range(1, num_cars): cars.append(Car.Simple(v_max=1.2)) bots = [pilots[(rank + i) % len(pilots)](cars[i], cars) for i in range(1, len(cars))] env = BeliefDriveItEnv(cars[0], bots, time_limit, noisy=True, random_position=True, bot_speed_deviation=0.15) env.set_training_mode(distance_growth) env.seed(seed + rank) env = bench.Monitor(env, logger.get_dir() and osp.join(logger.get_dir(), str(rank))) return env
def create_env(time_limit, nbots, seed): cars = [Car.HighPerf(Color.green, v_max=2.0)] for i in range(nbots): cars.append(Car.Simple(bot_colors[i], v_max=1.2)) bots = [ pilots[(i + rank) % len(pilots)](cars[i], cars) for i in range(1, len(cars)) ] env = BeliefDriveItEnv(cars[0], bots, time_limit, noisy=True, random_position=True, bot_speed_deviation=0.15) env.seed(seed) # env = bench.Monitor(env, logger.get_dir() and osp.join(logger.get_dir(), str(rank))) return env