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Commit 2d054dc2 authored by Armin Co's avatar Armin Co
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Environment works with keras

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carla_environment.py
+ 89
− 22
View file @ 2d054dc2
......@@ -8,8 +8,9 @@ import weakref
import numpy as np
import pygame
import time
from steering_wheel import Controller
from steering_wheel import ACTION_SPACE, Controller
# find carla module
try:
......@@ -68,6 +69,7 @@ class Camera:
class CollisionSensor:
sensor = None
collision = None
def __init__(self, world, parent):
bp = world.get_blueprint_library().find('sensor.other.collision')
......@@ -80,6 +82,7 @@ class CollisionSensor:
if not self:
return
print(event.other_actor)
self.collision = event
impulse = event.normal_impulse
intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
print(intensity)
......@@ -94,6 +97,7 @@ class World:
blueprint_library = None
spawn_points = None
actors = []
was_big_reward = False
def __init__(self, world):
self.world = world
......@@ -104,9 +108,17 @@ class World:
def reset(self):
""" Remove and create new player/vehicle. """
self.destroy()
time.sleep(0.5)
self.spawn_player()
self.spawn_actors()
def observation(self):
if self.player is not None:
pos = self.player.get_transform()
return [pos.location.x, pos.location.y, pos.rotation.yaw]
else:
return [0,0,0]
def spawn_player(self):
""" Add a vehicle to the world. """
while self.player is None:
......@@ -125,10 +137,11 @@ class World:
transforms = []
transforms.append(carla.Transform(carla.Location(x=-19.2, y=54.5, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
transforms.append(carla.Transform(carla.Location(x=-14.3, y=54.7, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
transforms.append(carla.Transform(carla.Location(x=-41.3, y=53.7, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
transforms.append(carla.Transform(carla.Location(x=-37.3, y=53.7, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
mass = carla.VehiclePhysicsControl(mass=900000.0)
for transform in transforms:
actor = self.world.try_spawn_actor(blueprint, transform)
actor.apply_physics_control(mass)
if actor is not None:
self.actors.append(actor)
......@@ -136,48 +149,102 @@ class World:
""" Remove vehicle from the world. """
if self.player is not None:
self.player.destroy()
self.player = None
if self.actors is not None:
for actor in self.actors:
actor.destroy()
self.actors = []
def step(self, action):
""" Apply controls to vehicle. """
self.player.apply_control(action)
# print(str(self.player.get_transform()))
# print(str(self.player.get_velocity()))
controls = Controller.action_to_controls(action)
c = carla.VehicleControl(throttle=controls[0], steer=controls[1], brake=controls[2], reverse=controls[3])
self.player.apply_control(c)
reward = self.reward()
self.collision_sensor.collision = None
return reward
def reward(self):
target = carla.Transform(carla.Location(x=-25.534311, y=54.460903, z=0.112781), carla.Rotation(pitch=0.000000, yaw=-175.922913, roll=-6.221135))
pos = self.player.get_transform()
pos_diff = (target.location.x - pos.location.x)**2 + (target.location.y - pos.location.y)**2 + 1
rot_diff = (target.rotation.yaw - pos.rotation.yaw)**2 + 1
r = ((1/pos_diff) - 0.5)
at_final_position = False
if pos_diff < 1.2:
if self.was_big_reward == False:
r += 100
self.was_big_reward = True
if rot_diff < 5:
at_final_position = True
else:
if self.was_big_reward == True:
self.was_big_reward = False
r -= 50
velocity = self.player.get_velocity()
v = (velocity.x)**2 + (velocity.y)**2
done = False
if at_final_position and v < 0.01:
done = True
if self.collision_sensor.collision is not None:
r -= 100
done = True
return self.observation(), r, done, None
class ActionSpace:
n = ACTION_SPACE
class ObservationSpace:
shape = [3]
class CarlaEnvironment:
action_space = ActionSpace
observation_space = ObservationSpace
world = None
client = None
camera = None
allow_render = False
def __init__(self, host="127.0.0.1", port=2000):
def __init__(self, host="127.0.0.1", port=2000, render=False):
pygame.init()
self.client = carla.Client(host, port)
self.client.set_timeout(2.0)
self.client.load_world('Town07')
self.world = World(self.client.get_world())
if render:
self.allow_render = True
self.camera = Camera(self.world, camera_type='semantic_segmentation')
print(self.observation_space.shape[0])
def step(self, action):
control = carla.VehicleControl(throttle=action[0], steer=action[2], brake=action[1], reverse=action[3])
self.world.step(control)
def reset(self):
self.world.reset()
return self.world.observation()
def render(self):
if self.allow_render:
self.camera.on_update()
def step(self, action, render=False):
if render:
self.render()
return self.world.step(action)
if __name__ == "__main__":
LOCALHOST="127.0.0.1"
SERVER="192.168.188.20"
pygame.init()
env = CarlaEnvironment(host=LOCALHOST, render=True)
clock = pygame.time.Clock()
env = CarlaEnvironment(host=LOCALHOST)
cam = Camera(env.world, camera_type='semantic_segmentation')
ctrl = Controller()
cumulated_reward = 0
while ctrl.is_running():
clock.tick(60)
clock.tick(20)
ctrl.on_update()
env.step(ctrl.get_action())
cam.on_update()
obs, reward, done = env.step(ctrl.get_action(), render=True)
if done:
break
print(str(reward) + ' ' + str(done))
cumulated_reward += reward
env.world.destroy()
pygame.quit()
print(cumulated_reward)
main.py
+ 9
− 7
View file @ 2d054dc2
......@@ -4,9 +4,10 @@ Run your desired environment and agent configuration.
import os
import atexit
import gym
from carla_environment import CarlaEnvironment
# import gym
from agents import DQAgent as QAgent
from agents import QAgent as QAgent
import environment_wrapper as ew
# Allow GPU usage or force tensorflow to use the CPU.
......@@ -15,13 +16,15 @@ if FORCE_CPU:
os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID"
os.environ["CUDA_VISIBLE_DEVICES"] = ""
RENDER = False
if __name__ == '__main__':
# 1. Create an environment
env = gym.make('LunarLander-v2')
env = CarlaEnvironment(render=RENDER)
# env = gym.make('LunarLander-v2')
print(env.observation_space.shape[0])
# 2. Create a learning agent
marvin = QAgent(env.action_space.n, env.observation_space.shape[0], 'FromScratchDouble')
marvin = QAgent(env.action_space.n, env.observation_space.shape[0], 'CarlaTest')
# (2.5) *optional* Load agent memory and/or net from disk.
agnt = 'agent'
......@@ -31,11 +34,10 @@ if __name__ == '__main__':
marvin.load('saved_agents/' + agnt + '/' + agnt, net=LOAD_ANN, memory=LOAD_MEMORIES)
# 3. Set your configurations for the run.
RENDER = False
LEARNING = True
LEARN_ONLINE = True
LEARN_OFFLINE = False
RUN_EPISODES = 500
RUN_EPISODES = 10
LEARN_OFFLINE_EPOCHS = 500
SAVE_PATH = "./saved_agents"
......
steering_wheel.py
+ 54
− 2
View file @ 2d054dc2
......@@ -9,6 +9,18 @@ JOYSTICK_REVERSE=3
INPUT_OFFSET = 2.0
IDLE=0
FORWARD=1
REVERSE=2
FORWARD_LEFT=3
FORWARD_RIGHT=4
LEFT=5
RIGHT=6
BRAKE=7
REVERSE_LEFT=8
REVERSE_RIGHT=9
ACTION_SPACE=10
class ManualSteeringWheel:
""" Steering wheel """
axis_count = 0.0
......@@ -52,9 +64,49 @@ class ManualSteeringWheel:
self.get_throttle(update=False)
self.get_brakes(update=False)
def get_action(self):
def action_to_controls(action):
if action == IDLE:
return [0.0, 0.0, 0.0, False]
if action == FORWARD:
return [0.8, 0.0, 0.0, False]
if action == REVERSE:
return [0.8, 0.0, 0.0, True]
if action == FORWARD_LEFT:
return [0.8, -0.4, 0.0, False]
if action == FORWARD_RIGHT:
return [0.8, 0.4, 0.0, False]
if action == LEFT:
return [0.0, -0.4, 0.0, False]
if action == RIGHT:
return [0.0, 0.5, 0.0, False]
if action == BRAKE:
return [0.0, 0.0, 0.5, False]
if action == REVERSE_LEFT:
return [0.5, -0.4, 0.0, True]
if action == REVERSE_RIGHT:
return [0.5, 0.4, 0.0, True]
return [self.throttle, self.brakes, self.direction, self.reverse]
def get_action(self):
action = IDLE
if self.throttle > 0.5 and self.brakes < 0.5 and abs(self.direction) < 0.1 and not self.reverse:
action = FORWARD
elif self.throttle > 0.5 and self.brakes < 0.5 and self.direction < -0.2 and not self.reverse:
action = FORWARD_LEFT
elif self.throttle > 0.5 and self.brakes < 0.5 and self.direction > 0.2 and not self.reverse:
action = FORWARD_RIGHT
elif self.throttle > 0.5 and self.brakes < 0.5 and abs(self.direction) < 0.2 and self.reverse:
action = REVERSE
elif self.throttle < 0.5 and self.brakes < 0.5 and self.direction < -0.2:
action = LEFT
elif self.throttle < 0.5 and self.brakes < 0.5 and self.direction > 0.2:
action = RIGHT
elif self.brakes > 0.5:
action = BRAKE
elif self.throttle > 0.5 and self.brakes < 0.5 and self.direction < -0.2 and self.reverse:
action = REVERSE_LEFT
elif self.throttle > 0.5 and self.brakes < 0.5 and self.direction > 0.2 and self.reverse:
action = REVERSE_RIGHT
return action
class Controller(ManualSteeringWheel):
......
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