Remove gym_carla submodule

faizansana · Apr 5, 2024 · 2f8642a · 2f8642a
1 parent 4ec1de6
commit 2f8642a
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Showing 4 changed files with 8 additions and 62 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "src/gym-carla"]
-	path = src/gym_carla
-	url = https://github.com/faizansana/gym-carla.git
 [submodule "src/custom_carla_gym"]
 	path = src/custom_carla_gym
 	url = https://github.com/faizansana/intersection-carla-gym.git
diff --git a/src/gym_carla b/src/gym_carla
diff --git a/src/test_model.py b/src/test_model.py
@@ -16,13 +16,6 @@ def parse_arguments():
         help="Path to model to test",
         metavar="PATH",
         type=str)
-    argparser.add_argument(
-        "-e", "--env",
-        help="Environment to test on. Path of env is appended",
-        default="custom_carla_gym",
-        metavar="NAME",
-        choices=["custom_carla_gym", "gym_carla"],
-        type=str)
     argparser.add_argument(
         "-v", "--verbose",
         help="Verbosity level",
@@ -71,7 +64,7 @@ def main():
     args = parse_arguments().parse_args()
 
     # Setup environment
-    env = setup_env(env_name=args.env, log_dir="", carla_host=args.carla_host, carla_port=args.carla_port, config_file=args.config_file)
+    env = setup_env(log_dir="", carla_host=args.carla_host, carla_port=args.carla_port, config_file=args.config_file)
 
     # Only setup model if random model is not selected
     if not args.random_model:

diff --git a/src/train.py b/src/train.py
@@ -23,12 +23,6 @@ def parse_arguments():
         default="DDPG",
         metavar="NAME",
         choices=["DDPG", "PPO", "RecurrentPPO", "SAC", "DQN"])
-    argparser.add_argument(
-        "-e", "--env",
-        help="Environment to train on. Path of env is appended",
-        default="custom_carla_gym",
-        metavar="NAME",
-        choices=["custom_carla_gym", "gym_carla"])
     argparser.add_argument(
         "-t", "--timesteps",
         help="Number of timesteps to train for",
@@ -56,7 +50,7 @@ def parse_arguments():
     argparser.add_argument(
         "--config-file",
         help="Path to config file",
-        default="./custom_carla_gym/src/config.yaml",
+        default="./custom_carla_gym/src/config_discrete.yaml",
         metavar="PATH",
         type=str)
     argparser.add_argument(
@@ -86,48 +80,12 @@ def train(model: BaseAlgorithm, timesteps: int, model_dir: os.path, log_dir: os.
     model.save(os.path.join(model_dir, "final_model"))
 
 
-def setup_env(env_name: str, log_dir: str, carla_host: str, carla_port: int, config_file: str = "./custom_carla_gym/config.yaml") -> gym.Env:
+def setup_env(log_dir: str, carla_host: str, carla_port: int, config_file: str = "./custom_carla_gym/config.yaml") -> gym.Env:
     """Setup environment"""
-    if env_name == "custom_carla_gym":
-        sys.path.append("./custom_carla_gym/src")
-        from custom_carla_gym.src.carla_env_custom import CarlaEnv
-        cfg = yaml.safe_load(open(config_file))
-        env = CarlaEnv(cfg=cfg, host=carla_host, port=carla_port)
-
-    elif env_name == "gym_carla":
-        sys.path.append("./gym_carla")
-        from gym_carla.envs.carla_env import CarlaEnv
-        params = {
-            "number_of_vehicles": 40,
-            "number_of_walkers": 10,
-            "display_size": 256,  # screen size of bird-eye render
-            "max_past_step": 1,  # the number of past steps to draw
-            "dt": 0.1,  # time interval between two frames
-            "discrete": False,  # whether to use discrete control space
-            "discrete_acc": [-3.0, 0.0, 3.0],  # discrete value of accelerations
-            "discrete_steer": [-0.2, 0.0, 0.2],  # discrete value of steering angles
-            "continuous_accel_range": [-3.0, 3.0],  # continuous acceleration range
-            "continuous_steer_range": [-0.3, 0.3],  # continuous steering angle range
-            "ego_vehicle_filter": "vehicle.lincoln*",  # filter for defining ego vehicle
-            "host": carla_host,  # which host to use
-            "port": 2000,  # connection port
-            "town": "Town03",  # which town to simulate
-            "task_mode": "intersection",  # mode of the task, [random, roundabout (only for Town03)]
-            "max_time_episode": 500,  # maximum timesteps per episode
-            "max_waypt": 12,  # maximum number of waypoints
-            "obs_range": 32,  # observation range (meter)
-            "lidar_bin": 0.125,  # bin size of lidar sensor (meter)
-            "d_behind": 12,  # distance behind the ego vehicle (meter)
-            "out_lane_thres": 2.0,  # threshold for out of lane
-            "desired_speed": 8,  # desired speed (m/s)
-            "max_ego_spawn_times": 200,  # maximum times to spawn ego vehicle
-            "display_route": True,  # whether to render the desired route
-            "pixor_size": 64,  # size of the pixor labels
-            "pixor": False  # whether to output PIXOR observation
-        }
-        env = gym.make('carla-v0', params=params, apply_api_compatibility=True)
-    else:
-        raise ValueError(f"Unknown environment: {env_name}")
+    sys.path.append("./custom_carla_gym/src")
+    from custom_carla_gym.src.carla_env_custom import CarlaEnv
+    cfg = yaml.safe_load(open(config_file))
+    env = CarlaEnv(cfg=cfg, host=carla_host, port=carla_port)
 
     if log_dir:
         # There seems to be a bug in Monitor, so this workaround is used.
@@ -244,12 +202,11 @@ def main():
     log_dir = os.path.join(model_dir, "logs")
     os.makedirs(log_dir, exist_ok=True)
 
-    print("------", args.env, "------")
     print(f"------ {args.timesteps:,} ------")
 
     try:
         # Create environment
-        env = setup_env(args.env, log_dir, args.carla_host, args.carla_port, args.config_file)
+        env = setup_env(log_dir, args.carla_host, args.carla_port, args.config_file)
 
         # Load model
         if args.model_path: