diff --git a/car_dreamer/carla_four_lane_env.py b/car_dreamer/carla_four_lane_env.py index 3cd4a2d..ac6c59e 100644 --- a/car_dreamer/carla_four_lane_env.py +++ b/car_dreamer/carla_four_lane_env.py @@ -1,5 +1,5 @@ import numpy as np -import random +#import random import carla from .carla_wpt_env import CarlaWptEnv @@ -20,7 +20,7 @@ class CarlaFourLaneEnv(CarlaWptEnv): """ def on_reset(self) -> None: - self.ego_src = self._config.lane_start_points[random.randint(0, len(self._config.lane_start_points) - 1)] + self.ego_src = self._config.lane_start_points[np.random.randint(0, len(self._config.lane_start_points) - 1)] ego_transform = carla.Transform(carla.Location( x=self.ego_src[0], y=self.ego_src[1], z=self.ego_src[2]), carla.Rotation(yaw=-90)) self.ego = self._world.spawn_actor(transform=ego_transform) diff --git a/car_dreamer/carla_overtake_env.py b/car_dreamer/carla_overtake_env.py index 858faa9..0bec0b6 100644 --- a/car_dreamer/carla_overtake_env.py +++ b/car_dreamer/carla_overtake_env.py @@ -1,6 +1,6 @@ import carla import numpy as np -import random +#import random import math from .carla_wpt_env import CarlaWptEnv @@ -27,10 +27,10 @@ class CarlaOvertakeEnv(CarlaWptEnv): """ def on_reset(self) -> None: - self.nonego_spawn_point = self._config.nonego_spawn_points[random.randint(0, len(self._config.nonego_spawn_points) - 1)] + self.nonego_spawn_point = self._config.nonego_spawn_points[np.random.randint(0, len(self._config.nonego_spawn_points) - 1)] nonego_transform = carla.Transform(carla.Location(*self.nonego_spawn_point[:3]), carla.Rotation(*self.nonego_spawn_point[-3:])) self.nonego = self._world.spawn_actor(transform=nonego_transform) - self.ego_src = self._config.lane_start_points[random.randint(0, len(self._config.lane_start_points) - 1)] + self.ego_src = self._config.lane_start_points[np.random.randint(0, len(self._config.lane_start_points) - 1)] ego_transform = carla.Transform(carla.Location(x=self.nonego_spawn_point[0], y=self.ego_src[1], z=self.ego_src[2]), carla.Rotation(yaw=-90)) # set x that always behind nonego self.ego = self._world.spawn_actor(transform=ego_transform) diff --git a/car_dreamer/carla_stop_sign_env.py b/car_dreamer/carla_stop_sign_env.py index 820be09..e4774b3 100644 --- a/car_dreamer/carla_stop_sign_env.py +++ b/car_dreamer/carla_stop_sign_env.py @@ -1,5 +1,5 @@ import carla -import random +#import random import time import numpy as np from .carla_wpt_fixed_env import CarlaWptFixedEnv @@ -15,8 +15,8 @@ def __init__(self, config): super().__init__(config) def on_reset(self) -> None: - random.seed(time.time()) - random_index = random.randint(0, len(self._config.lane_start_point) - 1) + np.random.seed(time.time()) + random_index = np.random.randint(0, len(self._config.lane_start_point) - 1) self.ego_src = self._config.lane_start_point[random_index] ego_transform = carla.Transform(carla.Location(*self.ego_src[:3]), carla.Rotation(yaw=self.ego_src[3])) self.ego = self._world.spawn_actor(transform=ego_transform) diff --git a/car_dreamer/carla_traffic_lights_env.py b/car_dreamer/carla_traffic_lights_env.py index f1b4414..59e29f2 100644 --- a/car_dreamer/carla_traffic_lights_env.py +++ b/car_dreamer/carla_traffic_lights_env.py @@ -1,5 +1,6 @@ import carla -import random +import numpy as np +#import random import time from .carla_wpt_fixed_env import CarlaWptFixedEnv from .toolkit import FixedPathPlanner @@ -14,8 +15,8 @@ def __init__(self, config): super().__init__(config) def on_reset(self) -> None: - random.seed(time.time()) - random_index = random.randint(0, len(self._config.lane_start_point) - 1) + np.random.seed(time.time()) + random_index = np.random.randint(0, len(self._config.lane_start_point) - 1) self.ego_src = self._config.lane_start_point[random_index] ego_transform = carla.Transform(carla.Location(*self.ego_src[:3]), carla.Rotation(yaw=self.ego_src[3])) self.ego = self._world.spawn_actor(transform=ego_transform) @@ -28,8 +29,8 @@ def on_reset(self) -> None: traffic_location = carla.Location(*self._config.traffic_locations) self.traffic_light = self.find_traffic_light_by_location(traffic_location) self.traffic_light.set_state(carla.TrafficLightState.Red) - self.red_duration = random.randint(self._config.red_duration[0], self._config.red_duration[1]) - self.green_duration = random.randint(self._config.green_duration[0], self._config.green_duration[1]) + self.red_duration = np.random.randint(self._config.red_duration[0], self._config.red_duration[1]) + self.green_duration = np.random.randint(self._config.green_duration[0], self._config.green_duration[1]) self.yellow_duration = 10 self.total_duration = self.red_duration + self.green_duration + self.yellow_duration diff --git a/car_dreamer/carla_wpt_fixed_env.py b/car_dreamer/carla_wpt_fixed_env.py index 7f74e1d..f9c7c97 100644 --- a/car_dreamer/carla_wpt_fixed_env.py +++ b/car_dreamer/carla_wpt_fixed_env.py @@ -1,5 +1,5 @@ import carla -import random +#import random import numpy as np from collections import deque @@ -48,7 +48,7 @@ def on_step(self) -> None: else: spawn_location = np.array(self._config.flow_spawn_point[:2]) nearest_car_location = np.array(get_vehicle_pos(self.actor_flow[-1])) - flow_dist = random.uniform(self._config.min_flow_dist,self._config.max_flow_dist) + flow_dist = np.random.uniform(self._config.min_flow_dist,self._config.max_flow_dist) if get_location_distance(spawn_location, nearest_car_location) >= flow_dist: spawn = True if spawn: diff --git a/car_dreamer/toolkit/planner/agents/navigation/behavior_agent.py b/car_dreamer/toolkit/planner/agents/navigation/behavior_agent.py index f8ce525..e9cd13b 100644 --- a/car_dreamer/toolkit/planner/agents/navigation/behavior_agent.py +++ b/car_dreamer/toolkit/planner/agents/navigation/behavior_agent.py @@ -8,7 +8,7 @@ waypoints and avoiding other vehicles. The agent also responds to traffic lights, traffic signs, and has different possible configurations. """ -import random +#import random import numpy as np import carla from .basic_agent import BasicAgent diff --git a/car_dreamer/toolkit/planner/agents/navigation/local_planner.py b/car_dreamer/toolkit/planner/agents/navigation/local_planner.py index 89ca6a5..8556eeb 100644 --- a/car_dreamer/toolkit/planner/agents/navigation/local_planner.py +++ b/car_dreamer/toolkit/planner/agents/navigation/local_planner.py @@ -7,8 +7,8 @@ from enum import IntEnum from collections import deque -import random - +#import random +import numpy as np import carla from .controller import VehiclePIDController from ..tools.misc import draw_waypoints, get_speed @@ -183,7 +183,7 @@ def _compute_next_waypoints(self, k=1): # random choice between the possible options road_options_list = _retrieve_options( next_waypoints, last_waypoint) - road_option = random.choice(road_options_list) + road_option = np.random.choice(road_options_list) next_waypoint = next_waypoints[road_options_list.index( road_option)]