CARLA_0.9.6/PythonAPI/carla/agents/navigation/carla_env.py [290:341]: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - location = carla.Location(x=1.6, z=1.7) self.camera_rl = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=0.0)), attach_to=self.vehicle) self.camera_rl_left = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=-float(fov))), attach_to=self.vehicle) self.camera_rl_lefter = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=-2*float(fov))), attach_to=self.vehicle) self.camera_rl_right = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=float(fov))), attach_to=self.vehicle) self.camera_rl_righter = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=2*float(fov))), attach_to=self.vehicle) self.actor_list.append(self.camera_rl) self.actor_list.append(self.camera_rl_left) self.actor_list.append(self.camera_rl_lefter) self.actor_list.append(self.camera_rl_right) self.actor_list.append(self.camera_rl_righter) bp = self.world.get_blueprint_library().find('sensor.other.collision') self.collision_sensor = self.world.spawn_actor(bp, carla.Transform(), attach_to=self.vehicle) self.collision_sensor.listen(lambda event: self._on_collision(event)) self.actor_list.append(self.collision_sensor) self._collision_intensities_during_last_time_step = [] if self.save_display_images or self.save_rl_images: import datetime now = datetime.datetime.now() image_dir = "images-" + now.strftime("%Y-%m-%d-%H-%M-%S") os.mkdir(image_dir) self.image_dir = image_dir if self.render_display: self.sync_mode = CarlaSyncMode(self.world, self.camera_rgb, self.camera_rl, self.camera_rl_left, self.camera_rl_lefter, self.camera_rl_right, self.camera_rl_righter, fps=20) else: self.sync_mode = CarlaSyncMode(self.world, self.camera_rl, self.camera_rl_left, self.camera_rl_lefter, self.camera_rl_right, self.camera_rl_righter, fps=20) # weather self.weather = Weather(self.world, self.changing_weather_speed) # dummy variables given bisim's assumption on deep-mind-control suite APIs low = -1.0 high = 1.0 self.action_space = DotMap() self.action_space.low.min = lambda: low self.action_space.high.max = lambda: high self.action_space.shape = [2] self.observation_space = DotMap() self.observation_space.shape = (3, rl_image_size, num_cameras * rl_image_size) self.observation_space.dtype = np.dtype(np.uint8) self.reward_range = None self.metadata = None self.action_space.sample = lambda: np.random.uniform(low=low, high=high, size=self.action_space.shape[0]).astype(np.float32) # roaming carla agent self.agent = None self.count = 0 self.dist_s = 0 self.return_ = 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - CARLA_0.9.8/PythonAPI/carla/agents/navigation/carla_env.py [285:336]: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - location = carla.Location(x=1.6, z=1.7) self.camera_rl = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=0.0)), attach_to=self.vehicle) self.camera_rl_left = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=-float(fov))), attach_to=self.vehicle) self.camera_rl_lefter = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=-2*float(fov))), attach_to=self.vehicle) self.camera_rl_right = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=float(fov))), attach_to=self.vehicle) self.camera_rl_righter = self.world.spawn_actor(bp, carla.Transform(location, carla.Rotation(yaw=2*float(fov))), attach_to=self.vehicle) self.actor_list.append(self.camera_rl) self.actor_list.append(self.camera_rl_left) self.actor_list.append(self.camera_rl_lefter) self.actor_list.append(self.camera_rl_right) self.actor_list.append(self.camera_rl_righter) bp = self.world.get_blueprint_library().find('sensor.other.collision') self.collision_sensor = self.world.spawn_actor(bp, carla.Transform(), attach_to=self.vehicle) self.collision_sensor.listen(lambda event: self._on_collision(event)) self.actor_list.append(self.collision_sensor) self._collision_intensities_during_last_time_step = [] if self.save_display_images or self.save_rl_images: import datetime now = datetime.datetime.now() image_dir = "images-" + now.strftime("%Y-%m-%d-%H-%M-%S") os.mkdir(image_dir) self.image_dir = image_dir if self.render_display: self.sync_mode = CarlaSyncMode(self.world, self.camera_rgb, self.camera_rl, self.camera_rl_left, self.camera_rl_lefter, self.camera_rl_right, self.camera_rl_righter, fps=20) else: self.sync_mode = CarlaSyncMode(self.world, self.camera_rl, self.camera_rl_left, self.camera_rl_lefter, self.camera_rl_right, self.camera_rl_righter, fps=20) # weather self.weather = Weather(self.world, self.changing_weather_speed) # dummy variables given bisim's assumption on deep-mind-control suite APIs low = -1.0 high = 1.0 self.action_space = DotMap() self.action_space.low.min = lambda: low self.action_space.high.max = lambda: high self.action_space.shape = [2] self.observation_space = DotMap() self.observation_space.shape = (3, rl_image_size, num_cameras * rl_image_size) self.observation_space.dtype = np.dtype(np.uint8) self.reward_range = None self.metadata = None self.action_space.sample = lambda: np.random.uniform(low=low, high=high, size=self.action_space.shape[0]).astype(np.float32) # roaming carla agent self.agent = None self.count = 0 self.dist_s = 0 self.return_ = 0 - 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