Carla Right Turn Random Env

README.md

@@ -276,6 +276,7 @@ If you find this repository useful, please cite this paper:
 Special thanks to the community for your valuable contributions and support in making CarDreamer better for everyone!
 
 <!-- readme: contributors -start -->
+
 <table>
 	<tbody>
 		<tr>

car_dreamer/__init__.py

@@ -15,6 +15,7 @@
 from .carla_navigation_env import CarlaNavigationEnv
 from .carla_overtake_env import CarlaOvertakeEnv
 from .carla_right_turn_env import CarlaRightTurnEnv
+from .carla_right_turn_random_env import CarlaRightTurnRandomEnv
 from .carla_roundabout_env import CarlaRoundaboutEnv
 from .carla_stop_sign_env import CarlaStopSignEnv
 from .carla_traffic_lights_env import CarlaTrafficLightsEnv

car_dreamer/carla_right_turn_random_env.py

@@ -0,0 +1,31 @@
+import random
+import time
+from collections import deque
+
+import carla
+
+from .carla_wpt_fixed_env import CarlaWptFixedEnv
+from .toolkit import FixedPathPlanner, get_vehicle_pos
+
+
+class CarlaRightTurnRandomEnv(CarlaWptFixedEnv):
+    """
+    Vehicle passes the crossing (random turn right) and avoid collision.
+
+    **Provided Tasks**: ``carla_right_turn_random``
+    """
+
+    def __init__(self, config):
+        super().__init__(config)
+
+    def on_reset(self) -> None:
+        random.seed(time.time())
+        random_index = random.randint(0, len(self._config.lane_start_point) - 1)
+        self.ego_src = self._config.lane_start_point[random_index]
+        ego_transform = carla.Transform(carla.Location(*self.ego_src[:3]), carla.Rotation(yaw=self.ego_src[3]))
+        self.ego = self._world.spawn_actor(transform=ego_transform)
+        self.ego_path = self._config.ego_path[random_index]
+        self.use_road_waypoints = self._config.use_road_waypoints
+        self.ego_planner = FixedPathPlanner(vehicle=self.ego, vehicle_path=self.ego_path, use_road_waypoints=self.use_road_waypoints)
+        self.waypoints, self.planner_stats = self.ego_planner.run_step()
+        self.num_completed = self.planner_stats["num_completed"]

car_dreamer/configs/tasks.yaml

@@ -149,6 +149,40 @@ carla_right_turn_hard:
   env.min_flow_dist: 6
   env.max_flow_dist: 8
 
+carla_right_turn_random:
+  env:
+    world:
+      town: Town03
+    name: CarlaRightTurnRandomEnv-v0
+    action:
+      discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
+    observation.enabled: [camera, collision, birdeye_wpt]
+    <<: *carla_wpt
+    lane_start_point: 
+      [
+        [-33.8, -135.1, 0.1, 0.0], 
+        [-3.2, -165.2, 0.1, 90], 
+        [9.3, -106.2, 0.1, -90]
+      ]
+    ego_path: 
+      [
+        [[-33.8, -135.1, 0.1], [-5.0, -110.3, 0.1]],
+        [[-3.2, -165.2, 0.1, 90], [-20.7, -142.2, 0.1, 180]],
+        [[9.3, -106.2, 0.1, -90], [31.3, -130.7, 0.1, 0]]
+      ]
+    use_road_waypoints: [True, False]
+
+  dreamerv3:
+    encoder.cnn_keys: "birdeye_wpt"
+    decoder.cnn_keys: "birdeye_wpt"
+    run.log_keys_video: [camera, birdeye_wpt]
+
+  dreamerv2:
+    encoder.cnn_keys: "birdeye_wpt"
+    decoder.cnn_keys: "birdeye_wpt"
+    decoder.cnn_kernels: [5, 5, 5, 6, 6]
+    train.log_keys_video: [camera, birdeye_wpt]
+
 carla_left_turn_simple: &carla_left_turn_simple
   env:
     world: