import gym
import gym_duckietown
import duckievillage
from duckievillage import DuckievillageEnv
env = DuckievillageEnv(
seed = 101,
map_name = './maps/udem1.yaml',
draw_curve = False,
draw_bbox = False,
domain_rand = False,
distortion = False,
top_down = False
)
# Set mark-mode whenever we run waypoints.py with the -m or --mark-waypoints flag.
waypoints = duckievillage.Waypoints(env, '--read-from-file' in sys.argv)
state = "searching"
next_wp = None
turn_precision = .001
move_precision = .01
env.reset()
env.render()
@env.unwrapped.window.event
def on_key_press(symbol, mods):
if symbol == key.ESCAPE:
waypoints.write('waypoints.txt')
env.close()
sys.exit(0)
tile_dict[coord] = (pos, kind, tile)
# itera sobre as tiles, e para cada tile, itera nas suas tiles adjacentes
# para conectar as duas
for tile1 in env.drivable_tiles:
for v in get_adjacent(tile1, tile_dict):
tile2 = v[0]
way = v[1]
connect_two_tiles(tile1, tile2, way, tile_dict)
key_handler = key.KeyStateHandler()
env.unwrapped.window.push_handlers(key_handler)
build_better_digraph()
waypoints = duckievillage.Waypoints(env, False)
goal = None
state = 'turn'
prev_dist = -1
dist = -1
def update(dt):
action = [0.0, 0.0]
global Q
global goal
global state
global prev_dist
global dist
# This is where you'll write the Duckie's logic.