Temporary Fix for Simulator

[bhairavmehta95]

The UdeM students have reported that the instructions to launch the simulator launch a different version of the simulator.

We can fix this by not running the server via Docker, but rather than throwing this code inside of the training scripts:

You will not want to start the Docker container as cited in the instructions, if you've already started it, please run: docker stop gym-duckietown-server.

Then, replace gym.make(...) in your training script with:

Note: Do not replace the gym.make(params['env']) inside of solution.py!

from gym_duckietown.simulator import Simulator

env = Simulator(
    seed=123, # random seed
    map_name="loop_empty",
    max_steps=500001, # we don't want the gym to reset itself
    domain_rand=0,
    camera_width=640,
    camera_height=480,
    accept_start_angle_deg=4, # start close to straight
    full_transparency=True,
    distortion=True,
)

# Wrappers
env = ResizeWrapper(env)
env = NormalizeWrapper(env)
env = ImgWrapper(env) # to make the images from 160x120x3 into 3x160x120
env = ActionWrapper(env)
# env = DtRewardWrapper(env) # not during testing

and then, the output of the environment will match exactly what we have inside of the evaluator.

This is a hot fix while I work on Dockerizing this, but this should work for the students to get back on track.

@liampaull @fgolemo

[placaille]

Wasn't that on purpose? Now we (as a student UdeM) have the description of the environment used for evaluation... feel kind of like cheating, isn't?

[bhairavmehta95]

@placaille so when I say

different version of the simulator

I actually mean that the images were undistorted and the actions were different in the simulator when using the old instructions.

We still make sure on our end (i.e the evaluation) that we randomize the environments, so its not cheating, but this will give you the correct type of environment (i.e distorted / fish eye images + wheel velocities as actions).

Please let me know if you have more questions!

[bhairavmehta95]

Fixed in #15