1f4f70eda2
* split bridge into two files * fix metadrive * fix tests too old-commit-hash: 5af5469c66e04d114121658017a756269c610e48
65 lines
1.8 KiB
Python
65 lines
1.8 KiB
Python
import math
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import numpy as np
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import time
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from openpilot.tools.sim.lib.common import SimulatorState, World, vec3
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class MetaDriveWorld(World):
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def __init__(self, env, dual_camera = False):
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super().__init__(dual_camera)
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self.env = env
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self.dual_camera = dual_camera
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self.steer_ratio = 15
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self.vc = [0.0,0.0]
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self.reset_time = 0
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def get_cam_as_rgb(self, cam):
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cam = self.env.engine.sensors[cam]
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img = cam.perceive(self.env.vehicle, clip=False)
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if type(img) != np.ndarray:
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img = img.get() # convert cupy array to numpy
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return img
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def apply_controls(self, steer_angle, throttle_out, brake_out):
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steer_metadrive = steer_angle * 1 / (self.env.vehicle.MAX_STEERING * self.steer_ratio)
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steer_metadrive = np.clip(steer_metadrive, -1, 1)
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if (time.monotonic() - self.reset_time) > 5:
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self.vc[0] = steer_metadrive
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if throttle_out:
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self.vc[1] = throttle_out/10
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else:
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self.vc[1] = -brake_out
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else:
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self.vc[0] = 0
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self.vc[1] = 0
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def read_sensors(self, state: SimulatorState):
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state.velocity = vec3(x=float(self.env.vehicle.velocity[0]), y=float(self.env.vehicle.velocity[1]), z=0)
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state.gps.from_xy(self.env.vehicle.position)
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state.bearing = float(math.degrees(self.env.vehicle.heading_theta))
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state.steering_angle = self.env.vehicle.steering * self.env.vehicle.MAX_STEERING
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state.valid = True
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def read_cameras(self):
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if self.dual_camera:
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self.wide_road_image = self.get_cam_as_rgb("rgb_wide")
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self.road_image = self.get_cam_as_rgb("rgb_road")
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def tick(self):
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obs, _, terminated, _, info = self.env.step(self.vc)
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if terminated:
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self.reset()
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def reset(self):
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self.env.reset()
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self.reset_time = time.monotonic()
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def close(self):
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pass |