From e2dc57dd90f65b2f2851455f0acc185d95bbc038 Mon Sep 17 00:00:00 2001
From: Armin <armin.co@hs-bochum.de>
Date: Fri, 12 Mar 2021 22:06:39 +0100
Subject: [PATCH] Added new environment options
---
carla_environment.py | 12 ++++++++++--
environment_wrapper.py | 1 +
2 files changed, 11 insertions(+), 2 deletions(-)
diff --git a/carla_environment.py b/carla_environment.py
index 6068312..d536520 100644
--- a/carla_environment.py
+++ b/carla_environment.py
@@ -247,15 +247,23 @@ class World:
carla.Rotation(pitch=0.000000, yaw=-175.922913, roll=-6.221135))
pos_diff = math.sqrt((target.location.x - x)**2 + (target.location.y - y)**2)
- rot_diff = ((target.rotation.yaw / 180) - yaw)
v = math.sqrt((vx)**2 + (vy)**2)
r = -0.1
r += -0.01 * pos_diff
- done = False
+ LEARN_FINAL_ORIENTATION = False
+ if LEARN_FINAL_ORIENTATION:
+ target_yaw = (-175.922913) / 180
+ yaw_dif = math.sqrt((target_yaw**2) - (yaw**2))
+ r += -0.01 * yaw_dif
+
+ INSENTIVE_MOVING = False
+ if v < 0.01 and INSENTIVE_MOVING:
+ r -= 0.02
+ done = False
if pos_diff < 1.5:
done = True
r += 100
diff --git a/environment_wrapper.py b/environment_wrapper.py
index c366b1e..61242e3 100644
--- a/environment_wrapper.py
+++ b/environment_wrapper.py
@@ -22,6 +22,7 @@ class Config:
learn_rate= 0.001
learn_iterations = 1
run_episodes = 20
+ offline_batchsize = 2048
offline_epochs = 1000
offline_validate_every_x_iteration = 10
load_ann = False
--
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