env.py 文件源码

def __init__(self, config=ENV_CONFIG):
        self.config = config

        if config["discrete_actions"]:
            self.action_space = Discrete(10)
        else:
            self.action_space = Box(-1.0, 1.0, shape=(3,))
        if config["use_depth_camera"]:
            self.observation_space = Box(
                -1.0, 1.0, shape=(config["x_res"], config["y_res"], 1))
        else:
            self.observation_space = Box(
                0.0, 255.0, shape=(config["x_res"], config["y_res"], 3))
        self._spec = lambda: None
        self._spec.id = "Carla-v0"

        self.server_port = None
        self.server_process = None
        self.client = None
        self.num_steps = 0
        self.prev_measurement = None