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Car racing (#117)

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* CarRacing-v0 new box2d environment
This commit is contained in:
Oleg Klimov
2016-05-26 21:39:57 +03:00
committed by jietang
parent 73fc7fb42c
commit fa99cb9435
6 changed files with 762 additions and 0 deletions
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3
examples/agents/random_agent.py
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@@ -40,6 +40,9 @@ if __name__ == '__main__':
ob, reward, done, _ = env.step(action)
if done:
break
# Note there's no env.render() here. But the environment still can open window and
# render if asked by env.monitor: it calls env.render('rgb_array') to record video.
# Video is not recorded every episode, see capped_cubic_video_schedule for details.
# Dump result info to disk
env.monitor.close()

7
gym/envs/__init__.py
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@@ -101,6 +101,13 @@ register(
reward_threshold=300,
)
register(
id='CarRacing-v0',
entry_point='gym.envs.box2d:CarRacing',
timestep_limit=1000,
reward_threshold=900,
)
# Toy Text
# ----------------------------------------

1
gym/envs/box2d/__init__.py
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@@ -1,2 +1,3 @@
from gym.envs.box2d.lunar_lander import LunarLander
from gym.envs.box2d.bipedal_walker import BipedalWalker, BipedalWalkerHardcore
from gym.envs.box2d.car_racing import CarRacing

244
gym/envs/box2d/car_dynamics.py Normal file
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@@ -0,0 +1,244 @@
import numpy as np
import math
import Box2D
from Box2D.b2 import (edgeShape, circleShape, fixtureDef, polygonShape, revoluteJointDef, contactListener, shape)
# Top-down car dynamics simulation.
#
# Some ideas are taken from this great tutorial http://www.iforce2d.net/b2dtut/top-down-car by Chris Campbell.
# This simulation is a bit more detailed, with wheels rotation.
#
# Created by Oleg Klimov. Licensed on the same terms as the rest of OpenAI Gym.
SIZE = 0.02
ENGINE_POWER = 100000000*SIZE*SIZE
WHEEL_MOMENT_OF_INERTIA = 4000*SIZE*SIZE
FRICTION_LIMIT = 1000000*SIZE*SIZE # friction ~= mass ~= size^2 (calculated implicitly using density)
WHEEL_R = 27
WHEEL_W = 14
WHEELPOS = [
(-55,+80), (+55,+80),
(-55,-82), (+55,-82)
]
HULL_POLY1 =[
(-60,+130), (+60,+130),
(+60,+110), (-60,+110)
]
HULL_POLY2 =[
(-15,+120), (+15,+120),
(+20, +20), (-20, 20)
]
HULL_POLY3 =[
(+25, +20),
(+50, -10),
(+50, -40),
(+20, -90),
(-20, -90),
(-50, -40),
(-50, -10),
(-25, +20)
]
HULL_POLY4 =[
(-50,-120), (+50,-120),
(+50,-90), (-50,-90)
]
WHEEL_COLOR = (0.0,0.0,0.0)
WHEEL_WHITE = (0.3,0.3,0.3)
MUD_COLOR = (0.4,0.4,0.0)
class Car:
def __init__(self, world, init_angle, init_x, init_y):
self.world = world
self.hull = self.world.CreateDynamicBody(
position = (init_x, init_y),
angle = init_angle,
fixtures = [
fixtureDef(shape = polygonShape(vertices=[ (x*SIZE,y*SIZE) for x,y in HULL_POLY1 ]), density=1.0),
fixtureDef(shape = polygonShape(vertices=[ (x*SIZE,y*SIZE) for x,y in HULL_POLY2 ]), density=1.0),
fixtureDef(shape = polygonShape(vertices=[ (x*SIZE,y*SIZE) for x,y in HULL_POLY3 ]), density=1.0),
fixtureDef(shape = polygonShape(vertices=[ (x*SIZE,y*SIZE) for x,y in HULL_POLY4 ]), density=1.0)
]
)
self.hull.color = (0.8,0.0,0.0)
self.wheels = []
self.fuel_spent = 0.0
WHEEL_POLY = [
(-WHEEL_W,+WHEEL_R), (+WHEEL_W,+WHEEL_R),
(+WHEEL_W,-WHEEL_R), (-WHEEL_W,-WHEEL_R)
]
for wx,wy in WHEELPOS:
front_k = 1.0 if wy > 0 else 1.0
w = self.world.CreateDynamicBody(
position = (init_x+wx*SIZE, init_y+wy*SIZE),
angle = init_angle,
fixtures = fixtureDef(
shape=polygonShape(vertices=[ (x*front_k*SIZE,y*front_k*SIZE) for x,y in WHEEL_POLY ]),
density=0.1,
categoryBits=0x0020,
maskBits=0x001,
restitution=0.0)
)
w.wheel_rad = front_k*WHEEL_R*SIZE
w.color = WHEEL_COLOR
w.gas = 0.0
w.brake = 0.0
w.steer = 0.0
w.phase = 0.0 # wheel angle
w.omega = 0.0 # angular velocity
w.skid_start = None
w.skid_particle = None
rjd = revoluteJointDef(
bodyA=self.hull,
bodyB=w,
localAnchorA=(wx*SIZE,wy*SIZE),
localAnchorB=(0,0),
enableMotor=True,
enableLimit=True,
maxMotorTorque=180*900*SIZE*SIZE,
motorSpeed = 0,
lowerAngle = -0.4,
upperAngle = +0.4,
)
w.joint = self.world.CreateJoint(rjd)
w.tiles = set()
w.userData = w
self.wheels.append(w)
self.drawlist = self.wheels + [self.hull]
self.particles = []
def gas(self, gas):
'control: rear wheel drive'
gas = np.clip(gas, 0, 1)
for w in self.wheels[2:4]:
diff = gas - w.gas
if diff > 0.1: diff = 0.1 # gradually increase, but stop immediately
w.gas += diff
def brake(self, b):
'control: brake b=0..1, more than 0.9 blocks wheels to zero rotation'
for w in self.wheels:
w.brake = b
def steer(self, s):
'control: steer s=-1..1, it takes time to rotate steering wheel from side to side, s is target position'
self.wheels[0].steer = s
self.wheels[1].steer = s
def step(self, dt):
for w in self.wheels:
# Steer each wheel
dir = np.sign(w.steer - w.joint.angle)
val = abs(w.steer - w.joint.angle)
w.joint.motorSpeed = dir*min(50.0*val, 3.0)
# Position => friction_limit
grass = True
friction_limit = FRICTION_LIMIT*0.6 # Grass friction if no tile
for tile in w.tiles:
friction_limit = max(friction_limit, FRICTION_LIMIT*tile.road_friction)
grass = False
# Force
forw = w.GetWorldVector( (0,1) )
side = w.GetWorldVector( (1,0) )
v = w.linearVelocity
vf = forw[0]*v[0] + forw[1]*v[1] # forward speed
vs = side[0]*v[0] + side[1]*v[1] # side speed
# WHEEL_MOMENT_OF_INERTIA*np.square(w.omega)/2 = E -- energy
# WHEEL_MOMENT_OF_INERTIA*w.omega * domega/dt = dE/dt = W -- power
# domega = dt*W/WHEEL_MOMENT_OF_INERTIA/w.omega
w.omega += dt*ENGINE_POWER*w.gas/WHEEL_MOMENT_OF_INERTIA/(abs(w.omega)+5.0) # small coef not to divide by zero
self.fuel_spent += dt*ENGINE_POWER*w.gas
if w.brake >= 0.9:
w.omega = 0
elif w.brake > 0:
BRAKE_FORCE = 15 # radians per second
dir = -np.sign(w.omega)
val = BRAKE_FORCE*w.brake
if abs(val) > abs(w.omega): val = abs(w.omega) # low speed => same as = 0
w.omega += dir*val
w.phase += w.omega*dt
vr = w.omega*w.wheel_rad # rotating wheel speed
f_force = -vf + vr # force direction is direction of speed difference
p_force = -vs
# Physically correct is to always apply friction_limit until speed is equal.
# But dt is finite, that will lead to oscillations if difference is already near zero.
f_force *= 205000*SIZE*SIZE # Random coefficient to cut oscillations in few steps (have no effect on friction_limit)
p_force *= 205000*SIZE*SIZE
force = np.sqrt(np.square(f_force) + np.square(p_force))
# Skid trace
if abs(force) > 2.0*friction_limit:
if w.skid_particle and w.skid_particle.grass==grass and len(w.skid_particle.poly) < 30:
w.skid_particle.poly.append( (w.position[0], w.position[1]) )
elif w.skid_start is None:
w.skid_start = w.position
else:
w.skid_particle = self._create_particle( w.skid_start, w.position, grass )
w.skid_start = None
else:
w.skid_start = None
w.skid_particle = None
if abs(force) > friction_limit:
f_force /= force
p_force /= force
force = friction_limit # Correct physics here
f_force *= force
p_force *= force
w.omega -= dt*f_force*w.wheel_rad/WHEEL_MOMENT_OF_INERTIA
w.ApplyForceToCenter( (
p_force*side[0] + f_force*forw[0],
p_force*side[1] + f_force*forw[1]), True )
def draw(self, viewer, draw_particles=True):
if draw_particles:
for p in self.particles:
viewer.draw_polyline(p.poly, color=p.color, linewidth=5)
for obj in self.drawlist:
for f in obj.fixtures:
trans = f.body.transform
path = [trans*v for v in f.shape.vertices]
viewer.draw_polygon(path, color=obj.color)
if "phase" not in obj.__dict__: continue
a1 = obj.phase
a2 = obj.phase + 1.2 # radians
s1 = math.sin(a1)
s2 = math.sin(a2)
c1 = math.cos(a1)
c2 = math.cos(a2)
if s1>0 and s2>0: continue
if s1>0: c1 = np.sign(c1)
if s2>0: c2 = np.sign(c2)
white_poly = [
(-WHEEL_W*SIZE, +WHEEL_R*c1*SIZE), (+WHEEL_W*SIZE, +WHEEL_R*c1*SIZE),
(+WHEEL_W*SIZE, +WHEEL_R*c2*SIZE), (-WHEEL_W*SIZE, +WHEEL_R*c2*SIZE)
]
viewer.draw_polygon([trans*v for v in white_poly], color=WHEEL_WHITE)
def _create_particle(self, point1, point2, grass):
class Particle:
pass
p = Particle()
p.color = WHEEL_COLOR if not grass else MUD_COLOR
p.ttl = 1
p.poly = [(point1[0],point1[1]), (point2[0],point2[1])]
p.grass = grass
self.particles.append(p)
while len(self.particles) > 30:
self.particles.pop(0)
return p
def destroy(self):
self.world.DestroyBody(self.hull)
self.hull = None
for w in self.wheels:
self.world.DestroyBody(w)
self.wheels = []

490
gym/envs/box2d/car_racing.py Normal file
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@@ -0,0 +1,490 @@
import sys, math
import numpy as np
import Box2D
from Box2D.b2 import (edgeShape, circleShape, fixtureDef, polygonShape, revoluteJointDef, contactListener)
import gym
from gym import spaces
from gym.envs.classic_control import rendering
import pyglet
from pyglet.gl import *
from car_dynamics import Car
# Easiest continuous control task to learn from pixels, a top-down racing environment.
# Discreet control is reasonable in this environment as well, on/off discretisation is
# fine.
#
# State consists of STATE_W x STATE_H pixels.
#
# Reward is -0.1 every frame and +1000/N for every track tile visited, where N is
# the total number of tiles in track. For example, if you have finished in 732 frames,
# your reward is 1000 - 0.1*732 = 926.8 points.
#
# Game is solved when agent consistently gets 900+ points. Track is random every episode.
#
# Episode finishes when all tiles are visited. Car also can go outside of PLAYFIELD, that
# is far off the track, then it will get -100 and die.
#
# Some indicators shown at the bottom of the window and the state RGB buffer. From
# left to right: true speed, four ABS sensors, steering wheel position, gyroscope.
#
# To play yourself (it's rather fast for humans), type:
#
# python gym/envs/box2d/car_racing.py
#
# Remember it's powerful rear-wheel drive car, don't press accelerator and turn at the
# same time.
#
# Created by Oleg Klimov. Licensed on the same terms as the rest of OpenAI Gym.
STATE_W = 96 # less than Atari 160x192
STATE_H = 96
VIDEO_W = 600
VIDEO_H = 400
WINDOW_W = 1200
WINDOW_H = 1000
SCALE = 6.0 # Track scale
TRACK_RAD = 900/SCALE # Track is heavily morphed circle with this radius
PLAYFIELD = 2000/SCALE # Game over boundary
FPS = 50
ZOOM = 2.7 # Camera zoom
ZOOM_FOLLOW = True # Set to False for fixed view (don't use zoom)
TRACK_DETAIL_STEP = 21/SCALE
TRACK_TURN_RATE = 0.31
TRACK_WIDTH = 40/SCALE
BORDER = 8/SCALE
BORDER_MIN_COUNT = 4
ROAD_COLOR = [0.4, 0.4, 0.4]
class FrictionDetector(contactListener):
def __init__(self, env):
contactListener.__init__(self)
self.env = env
def BeginContact(self, contact):
self._contact(contact, True)
def EndContact(self, contact):
self._contact(contact, False)
def _contact(self, contact, begin):
tile = None
obj = None
u1 = contact.fixtureA.body.userData
u2 = contact.fixtureB.body.userData
if u1 and "road_friction" in u1.__dict__:
tile = u1
obj = u2
if u2 and "road_friction" in u2.__dict__:
tile = u2
obj = u1
if not tile: return
tile.color[0] = ROAD_COLOR[0]
tile.color[1] = ROAD_COLOR[1]
tile.color[2] = ROAD_COLOR[2]
if not obj or "tiles" not in obj.__dict__: return
if begin:
obj.tiles.add(tile)
#print tile.road_friction, "ADD", len(obj.tiles)
if not tile.road_visited:
tile.road_visited = True
self.env.reward += 1000.0/len(self.env.track)
self.env.tile_visited_count += 1
else:
obj.tiles.remove(tile)
#print tile.road_friction, "DEL", len(obj.tiles) -- should delete to zero when on grass (this works)
class CarRacing(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array', 'state_pixels'],
'video.frames_per_second' : FPS
}
def __init__(self):
self.action_space = spaces.Box( np.array([-1,0,0]), np.array([+1,+1,+1]) ) # steer, gas, brake
self.observation_space = spaces.Box(low=0, high=255, shape=(STATE_H, STATE_W, 3))
self.world = Box2D.b2World((0,0), contactListener=FrictionDetector(self))
self.viewer = None
self.invisible_state_window = None
self.invisible_video_window = None
self.road = None
self.car = None
self.reward = 0.0
self.prev_reward = 0.0
def _destroy(self):
if not self.road: return
for t in self.road:
self.world.DestroyBody(t)
self.road = []
self.car.destroy()
def _create_track(self):
CHECKPOINTS = 12
# Create checkpoints
checkpoints = []
for c in range(CHECKPOINTS):
alpha = 2*math.pi*c/CHECKPOINTS + np.random.uniform(0, 2*math.pi*1/CHECKPOINTS)
rad = np.random.uniform(TRACK_RAD/3, TRACK_RAD)
if c==0:
alpha = 0
rad = 1.5*TRACK_RAD
if c==CHECKPOINTS-1:
alpha = 2*math.pi*c/CHECKPOINTS
self.start_alpha = 2*math.pi*(-0.5)/CHECKPOINTS
rad = 1.5*TRACK_RAD
checkpoints.append( (alpha, rad*math.cos(alpha), rad*math.sin(alpha)) )
#print "\n".join(str(h) for h in checkpoints)
#self.road_poly = [ ( # uncomment this to see checkpoints
# [ (tx,ty) for a,tx,ty in checkpoints ],
# (0.7,0.7,0.9) ) ]
self.road = []
# Go from one checkpoint to another to create track
x, y, beta = 1.5*TRACK_RAD, 0, 0
dest_i = 0
laps = 0
track = []
no_freeze = 2500
visited_other_side = False
while 1:
alpha = math.atan2(y, x)
if visited_other_side and alpha > 0:
laps += 1
visited_other_side = False
if alpha < 0:
visited_other_side = True
alpha += 2*math.pi
while True: # Find destination from checkpoints
failed = True
while True:
dest_alpha, dest_x, dest_y = checkpoints[dest_i % len(checkpoints)]
if alpha <= dest_alpha:
failed = False
break
dest_i += 1
if dest_i % len(checkpoints) == 0: break
if not failed: break
alpha -= 2*math.pi
continue
r1x = math.cos(beta)
r1y = math.sin(beta)
p1x = -r1y
p1y = r1x
dest_dx = dest_x - x # vector towards destination
dest_dy = dest_y - y
proj = r1x*dest_dx + r1y*dest_dy # destination vector projected on rad
while beta - alpha > 1.5*math.pi: beta -= 2*math.pi
while beta - alpha < -1.5*math.pi: beta += 2*math.pi
prev_beta = beta
proj *= SCALE
if proj > 0.3: beta -= min(TRACK_TURN_RATE, abs(0.001*proj))
if proj < -0.3: beta += min(TRACK_TURN_RATE, abs(0.001*proj))
x += p1x*TRACK_DETAIL_STEP
y += p1y*TRACK_DETAIL_STEP
track.append( (alpha,prev_beta*0.5 + beta*0.5,x,y) )
if laps > 4: break
no_freeze -= 1
if no_freeze==0: break
#print "\n".join([str(t) for t in enumerate(track)])
# Find closed loop range i1..i2, first loop should be ignored, second is OK
i1, i2 = -1, -1
i = len(track)
while True:
i -= 1
if i==0: return False # Failed
pass_through_start = track[i][0] > self.start_alpha and track[i-1][0] <= self.start_alpha
if pass_through_start and i2==-1:
i2 = i
elif pass_through_start and i1==-1:
i1 = i
break
print("Track generation: %i..%i -> %i-tiles track" % (i1, i2, i2-i1))
assert i1!=-1
assert i2!=-1
track = track[i1:i2-1]
first_beta = track[0][1]
first_perp_x = math.cos(first_beta)
first_perp_y = math.sin(first_beta)
# Length of perpendicular jump to put together head and tail
well_glued_together = np.sqrt(
np.square( first_perp_x*(track[0][2] - track[-1][2]) ) +
np.square( first_perp_y*(track[0][3] - track[-1][3]) ))
if well_glued_together > TRACK_DETAIL_STEP:
return False
# Red-white border on hard turns
border = [False]*len(track)
for i in range(len(track)):
good = True
oneside = 0
for neg in range(BORDER_MIN_COUNT):
beta1 = track[i-neg-0][1]
beta2 = track[i-neg-1][1]
good &= abs(beta1 - beta2) > TRACK_TURN_RATE*0.2
oneside += np.sign(beta1 - beta2)
good &= abs(oneside) == BORDER_MIN_COUNT
border[i] = good
for i in range(len(track)):
for neg in range(BORDER_MIN_COUNT):
border[i-neg] |= border[i]
# Create tiles
for i in range(len(track)):
alpha1, beta1, x1, y1 = track[i]
alpha2, beta2, x2, y2 = track[i-1]
road1_l = (x1 - TRACK_WIDTH*math.cos(beta1), y1 - TRACK_WIDTH*math.sin(beta1))
road1_r = (x1 + TRACK_WIDTH*math.cos(beta1), y1 + TRACK_WIDTH*math.sin(beta1))
road2_l = (x2 - TRACK_WIDTH*math.cos(beta2), y2 - TRACK_WIDTH*math.sin(beta2))
road2_r = (x2 + TRACK_WIDTH*math.cos(beta2), y2 + TRACK_WIDTH*math.sin(beta2))
t = self.world.CreateStaticBody( fixtures = fixtureDef(
shape=polygonShape(vertices=[road1_l, road1_r, road2_r, road2_l])
))
t.userData = t
c = 0.01*(i%3)
t.color = [ROAD_COLOR[0] + c, ROAD_COLOR[1] + c, ROAD_COLOR[2] + c]
t.road_visited = False
t.road_friction = 1.0
t.fixtures[0].sensor = True
self.road_poly.append(( [road1_l, road1_r, road2_r, road2_l], t.color ))
self.road.append(t)
if border[i]:
side = np.sign(beta2 - beta1)
b1_l = (x1 + side* TRACK_WIDTH *math.cos(beta1), y1 + side* TRACK_WIDTH *math.sin(beta1))
b1_r = (x1 + side*(TRACK_WIDTH+BORDER)*math.cos(beta1), y1 + side*(TRACK_WIDTH+BORDER)*math.sin(beta1))
b2_l = (x2 + side* TRACK_WIDTH *math.cos(beta2), y2 + side* TRACK_WIDTH *math.sin(beta2))
b2_r = (x2 + side*(TRACK_WIDTH+BORDER)*math.cos(beta2), y2 + side*(TRACK_WIDTH+BORDER)*math.sin(beta2))
self.road_poly.append(( [b1_l, b1_r, b2_r, b2_l], (1,1,1) if i%2==0 else (1,0,0) ))
self.track = track
return True
def _reset(self):
self._destroy()
self.reward = 0.0
self.prev_reward = 0.0
self.tile_visited_count = 0
self.t = 0.0
self.road_poly = []
self.human_render = False
while True:
success = self._create_track()
if success: break
print("retry to generate track (normal if there are not many of this messages)")
self.car = Car(self.world, *self.track[0][1:4])
return self._step(None)[0]
def _step(self, action):
if action is not None:
self.car.steer(-action[0])
self.car.gas(action[1])
self.car.brake(action[2])
self.car.step(1.0/FPS)
self.world.Step(1.0/FPS, 6*30, 2*30)
self.t += 1.0/FPS
self.state = self._render("state_pixels")
step_reward = 0
done = False
if action is not None: # First step without action, called from reset()
self.reward -= 0.1
# We actually don't want to count fuel spent, we want car to be faster.
#self.reward -= 10 * self.car.fuel_spent / ENGINE_POWER
self.car.fuel_spent = 0.0
step_reward = self.reward - self.prev_reward
self.prev_reward = self.reward
if self.tile_visited_count==len(self.track):
done = True
x, y = self.car.hull.position
if abs(x) > PLAYFIELD or abs(y) > PLAYFIELD:
done = True
step_reward = -100
return self.state, step_reward, done, {}
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
if self.viewer is None:
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.score_label = pyglet.text.Label('0000', font_size=36,
x=20, y=WINDOW_H*2.5/40.00, anchor_x='left', anchor_y='center',
color=(255,255,255,255))
self.transform = rendering.Transform()
if "t" not in self.__dict__: return # reset() not called yet
zoom = 0.1*SCALE*max(1-self.t, 0) + ZOOM*SCALE*min(self.t, 1) # Animate zoom first second
zoom_state = ZOOM*SCALE*STATE_W/WINDOW_W
zoom_video = ZOOM*SCALE*VIDEO_W/WINDOW_W
scroll_x = self.car.hull.position[0]
scroll_y = self.car.hull.position[1]
angle = -self.car.hull.angle
vel = self.car.hull.linearVelocity
if np.linalg.norm(vel) > 0.5:
angle = math.atan2(vel[0], vel[1])
self.transform.set_scale(zoom, zoom)
self.transform.set_translation(
WINDOW_W/2 - (scroll_x*zoom*math.cos(angle) - scroll_y*zoom*math.sin(angle)),
WINDOW_H/4 - (scroll_x*zoom*math.sin(angle) + scroll_y*zoom*math.cos(angle)) )
self.transform.set_rotation(angle)
self.car.draw(self.viewer, mode!="state_pixels")
arr = None
win = self.viewer.window
win.switch_to()
win.dispatch_events()
if mode=="rgb_array" or mode=="state_pixels":
win.clear()
t = self.transform
if mode=='rgb_array':
VP_W = VIDEO_W
VP_H = VIDEO_H
else:
VP_W = STATE_W
VP_H = STATE_H
glViewport(0, 0, VP_W, VP_H)
t.enable()
self._render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
t.disable()
self._render_indicators(WINDOW_W, WINDOW_H) # TODO: find why 2x needed, wtf
image_data = pyglet.image.get_buffer_manager().get_color_buffer().get_image_data()
arr = np.fromstring(image_data.data, dtype=np.uint8, sep='')
arr = arr.reshape(VP_H, VP_W, 4)
arr = arr[::-1, :, 0:3]
if mode=="rgb_array" and not self.human_render: # agent can call or not call env.render() itself when recording video.
win.flip()
if mode=='human':
self.human_render = True
win.clear()
t = self.transform
glViewport(0, 0, WINDOW_W, WINDOW_H)
t.enable()
self._render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
t.disable()
self._render_indicators(WINDOW_W, WINDOW_H)
win.flip()
self.viewer.onetime_geoms = []
return arr
def _render_road(self):
glBegin(GL_QUADS)
glColor4f(0.4, 0.8, 0.4, 1.0)
glVertex3f(-PLAYFIELD, +PLAYFIELD, 0)
glVertex3f(+PLAYFIELD, +PLAYFIELD, 0)
glVertex3f(+PLAYFIELD, -PLAYFIELD, 0)
glVertex3f(-PLAYFIELD, -PLAYFIELD, 0)
glColor4f(0.4, 0.9, 0.4, 1.0)
k = PLAYFIELD/20.0
for x in range(-20, 20, 2):
for y in range(-20, 20, 2):
glVertex3f(k*x + k, k*y + 0, 0)
glVertex3f(k*x + 0, k*y + 0, 0)
glVertex3f(k*x + 0, k*y + k, 0)
glVertex3f(k*x + k, k*y + k, 0)
for poly, color in self.road_poly:
glColor4f(color[0], color[1], color[2], 1)
for p in poly:
glVertex3f(p[0], p[1], 0)
glEnd()
def _render_indicators(self, W, H):
glBegin(GL_QUADS)
s = W/40.0
h = H/40.0
glColor4f(0,0,0,1)
glVertex3f(W, 0, 0)
glVertex3f(W, 5*h, 0)
glVertex3f(0, 5*h, 0)
glVertex3f(0, 0, 0)
def vertical_ind(place, val, color):
glColor4f(color[0], color[1], color[2], 1)
glVertex3f((place+0)*s, h + h*val, 0)
glVertex3f((place+1)*s, h + h*val, 0)
glVertex3f((place+1)*s, h, 0)
glVertex3f((place+0)*s, h, 0)
def horiz_ind(place, val, color):
glColor4f(color[0], color[1], color[2], 1)
glVertex3f((place+0)*s, 4*h , 0)
glVertex3f((place+val)*s, 4*h, 0)
glVertex3f((place+val)*s, 2*h, 0)
glVertex3f((place+0)*s, 2*h, 0)
true_speed = np.sqrt(np.square(self.car.hull.linearVelocity[0]) + np.square(self.car.hull.linearVelocity[1]))
vertical_ind(5, 0.02*true_speed, (1,1,1))
vertical_ind(7, 0.01*self.car.wheels[0].omega, (0.0,0,1)) # ABS sensors
vertical_ind(8, 0.01*self.car.wheels[1].omega, (0.0,0,1))
vertical_ind(9, 0.01*self.car.wheels[2].omega, (0.2,0,1))
vertical_ind(10,0.01*self.car.wheels[3].omega, (0.2,0,1))
horiz_ind(20, -10.0*self.car.wheels[0].joint.angle, (0,1,0))
horiz_ind(30, -0.8*self.car.hull.angularVelocity, (1,0,0))
glEnd()
self.score_label.text = "%04i" % self.reward
self.score_label.draw()
if __name__=="__main__":
from pyglet.window import key
a = np.array( [0.0, 0.0, 0.0] )
def key_press(k, mod):
global restart
if k==0xff0d: restart = True
if k==key.LEFT: a[0] = -1.0
if k==key.RIGHT: a[0] = +1.0
if k==key.UP: a[1] = +1.0
if k==key.DOWN: a[2] = +0.8 # set 1.0 for wheels to block to zero rotation
def key_release(k, mod):
if k==key.LEFT and a[0]==-1.0: a[0] = 0
if k==key.RIGHT and a[0]==+1.0: a[0] = 0
if k==key.UP: a[1] = 0
if k==key.DOWN: a[2] = 0
env = CarRacing()
env.render()
record_video = False
if record_video:
env.monitor.start('/tmp/video-test', force=True)
env.viewer.window.on_key_press = key_press
env.viewer.window.on_key_release = key_release
while True:
env.reset()
total_reward = 0.0
steps = 0
restart = False
while True:
s, r, done, info = env.step(a)
total_reward += r
if steps % 200 == 0 or done:
print("\naction " + str(["{:+0.2f}".format(x) for x in a]))
print("step {} total_reward {:+0.2f}".format(steps, total_reward))
#import matplotlib.pyplot as plt
#plt.imshow(s)
#plt.savefig("test.jpeg")
steps += 1
if not record_video: # Faster, but you can as well call env.render() every time to play full window.
env.render()
if done or restart: break
env.monitor.close()

17
gym/scoreboard/__init__.py
View File

@@ -247,6 +247,23 @@ add_task(
experimental=True,
)
add_task(
id='CarRacing-v0',
group='box2d',
experimental=True,
description="""
Easiest continuous control task to learn from pixels, a top-down racing environment.
Discreet control is reasonable in this environment as well, on/off discretisation is
fine. State consists of 96x96 pixels. Reward is -0.1 every frame and +1000/N for every track
tile visited, where N is the total number of tiles in track. For example, if you have
finished in 732 frames, your reward is 1000 - 0.1*732 = 926.8 points.
Episode finishes when all tiles are visited.
Some indicators shown at the bottom of the window and the state RGB buffer. From
left to right: true speed, four ABS sensors, steering wheel position, gyroscope.
"""
)
# mujoco
add_task(