play_car_racing.py

from car_racing import ExtendedCarRacing
import numpy as np

if __name__=="__main__":
    from pyglet.window import key
    a = np.array( [0.0, 0.0, 0.0] )
    def key_press(k, mod):
        global restart
        if k==0xff0d: restart = True
        if k==key.LEFT:  a[0] = -1.0
        if k==key.RIGHT: a[0] = +1.0
        if k==key.UP:    a[1] = +1.0
        if k==key.DOWN:  a[2] = +0.8   # set 1.0 for wheels to block to zero rotation
    def key_release(k, mod):
        if k==key.LEFT  and a[0]==-1.0: a[0] = 0
        if k==key.RIGHT and a[0]==+1.0: a[0] = 0
        if k==key.UP:    a[1] = 0
        if k==key.DOWN:  a[2] = 0
    env = ExtendedCarRacing(0, False, 12)
    env.render()
    record_video = False
    if record_video:
        env.monitor.start('/tmp/video-test', force=True)
    env.viewer.window.on_key_press = key_press
    env.viewer.window.on_key_release = key_release
    while True:
        env.reset()
        total_reward = 0.0
        steps = 0
        restart = False
        while True:
            s, r, done, info = env.step(a)
            print r[1][1], r[1][3], r[1][4]
            total_reward += r[0]
            if steps % 200 == 0 or done:
            	pass
                # print("\naction " + str(["{:+0.2f}".format(x) for x in a]))
                # print("step {} total_reward {:+0.2f}".format(steps, total_reward))
                #import matplotlib.pyplot as plt
                #plt.imshow(s)
                #plt.savefig("test.jpeg")
            steps += 1
            if not record_video: # Faster, but you can as well call env.render() every time to play full window.
                env.render()
            if done or restart or float(env.tile_visited_count)>139: break
        print steps, float(env.tile_visited_count), len(env.track), float(env.tile_visited_count)/len(env.track)
    env.close()