play.py

#!/usr/bin/env python3
import numpy as np
import gym_carlo
import gym
import time
import argparse
from gym_carlo.envs.interactive_controllers import KeyboardController
from utils import *

if __name__ == "__main__":
    parser = argparse.ArgumentParser(
        formatter_class=argparse.ArgumentDefaultsHelpFormatter
    )
    parser.add_argument(
        "--scenario",
        type=str,
        help="intersection, circularroad, lanechange",
        default="intersection",
    )
    args = parser.parse_args()
    scenario_name = args.scenario.lower()
    assert scenario_name in scenario_names, "--scenario argument is invalid!"

    env = gym.make(scenario_name + "Scenario-v0", goal=len(goals[scenario_name]))
    env.seed(int(np.random.rand() * 1e6))
    o, d = env.reset(), False
    env.render()
    interactive_policy = KeyboardController(env.world, steering_lims[scenario_name])
    while not d:
        t = time.time()
        a = [interactive_policy.steering, interactive_policy.throttle]
        o, _, d, _ = env.step(a)
        env.render()
        while time.time() - t < env.dt / 2:
            pass  # runs 2x speed. This is not great, but time.sleep() causes problems with the interactive controller