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Default multiple CARLA config file updated
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@sergiopaniego
sergiopaniego committed Sep 18, 2023
1 parent afb04e6 commit fb52a98
Showing 1 changed file with 54 additions and 56 deletions.
110 changes: 54 additions & 56 deletions behavior_metrics/configs/default_carla_multiple.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,92 +35,90 @@ Behaviors:
MaxW: 0.3

BrainPath: [
'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py',
'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py',
'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py',
'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py',
'brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py',
]
PilotTimeCycle: 50
AsyncMode: True
Parameters:
Model: [
'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_fp32',
'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_fp16',
'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_int8_2',
'pilotnet.h5',
'pilotnet_model.pth'
]
ImageCropped: True
ImageSize: [ 100,50 ]
ImageNormalized: True
PredictionsNormalized: True
GPU: True
UseOptimized: True
UseOptimized: False
ImageTranform: ''
Type: 'CARLA'
Experiment:
Name: "Experiment name"
Description: "Experiment description"
UseWorldTimeouts: True
Timeout: [10] # for each world!
Timeout: [10, 10, 10, 10, 10, 10, 10] # for each world!
Repetitions: 5
Simulation:
World: [
configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_02_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch,
configs/CARLA_launch_files/town_07_anticlockwise_no_gui.launch
]
RandomSpawnPoint: False
SpawnPoints: [
[
"10.0, 2.0, 1.37, 0.0, 0.0, 180.0",
"10.0, 2.0, 1.37, 0.0, 0.0, 180.0",
"300.0, -330.0, 1.37, 0.0, 0.0, 0.0",
"397.0, -50.0, 1.37, 0.0, 0.0, 90.0",
"392.0, -50.0, 1.37, 0.0, 0.0, -90.0",
"20.0, -327.0, 1.37, 0.0, 0.0, 180.0"
],
[
"55.3, -105.6, 1.37, 0.0, 0.0, 180.0",
"-7.0, -270.6, 1.37, 0.0, 0.0, -90.0",
"-3.0, -270.6, 1.37, 0.0, 0.0, 90.0",
"100.0, -303.0, 1.37, 0.0, 0.0, 180.0",
"190.0, -150.0, 1.37, 0.0, 0.0, -90.0"
],
[
"246.0, 150.0, 1.37, 0.0, 0.0, 90.0",
"243.0, -100., 1.37, 0.0, 0.0, 90.0",
"-88.0, 170, 1.37, 0.0, 0.0, -90.0",
"232.0, 0.0, 1.37, 0.0, 0.0, -90.0",
"-50.0, 195, 1.37, 0.0, 0.0, 0.0"
],
[
"381.5, 60.0, 1.37, 0.0, 0.0, -90.0",
"-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",
"381.5, 60.0, 1.37, 0.0, 0.0, -90.0",
"-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",
"381.5, 60.0, 1.37, 0.0, 0.0, -90.0"
],
[
"20, -187.5, 1.37, 0.0, 0.0, 180.0",
"210.1, -87.3, 1.37, 0.0, 0.0, 90.0",
"189, -87.3, 1.37, 0.0, 0.0, -90.0",
"20, -187.5, 1.37, 0.0, 0.0, 180.0",
"210.1, -87.3, 1.37, 0.0, 0.0, 90.0"
],
[
"659.0, -70.5, 1.37, 0.0, 0.0, -90.0",
"351.5, 10.5, 1.37, 0.0, 0.0, 0.0",
"351.5, 24.5, 1.37, 0.0, 0.0, 180.0",
"672.5, -70.5, 1.37, 0.0, 0.0, 90.0",
"659.0, -70.5, 1.37, 0.0, 0.0, -90.0"
],
[
"-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",
"70.5, 5.0, 1.37, 0.0, 0.0, 60.0",
"-184.5, -107.2, 1.37, 0.0, 0.0, 180.0",
"-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",
"70.5, 5.0, 1.37, 0.0, 0.0, 60.0"
],
[
"55.3, -105.6, 1.37, 0.0, 0.0, 180.0",
"-7.0, -270.6, 1.37, 0.0, 0.0, -90.0",
"-3.0, -270.6, 1.37, 0.0, 0.0, 90.0",
"100.0, -303.0, 1.37, 0.0, 0.0, 180.0",
"190.0, -150.0, 1.37, 0.0, 0.0, -90.0"
],
[
"246.0, 150.0, 1.37, 0.0, 0.0, 90.0",
"243.0, -100., 1.37, 0.0, 0.0, 90.0",
"-88.0, 170, 1.37, 0.0, 0.0, -90.0",
"232.0, 0.0, 1.37, 0.0, 0.0, -90.0",
"-50.0, 195, 1.37, 0.0, 0.0, 0.0"
],
[
"381.5, 60.0, 1.37, 0.0, 0.0, -90.0",
"-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",
"381.5, 60.0, 1.37, 0.0, 0.0, -90.0",
"-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",
"381.5, 60.0, 1.37, 0.0, 0.0, -90.0"
],
[
"20, -187.5, 1.37, 0.0, 0.0, 180.0",
"210.1, -87.3, 1.37, 0.0, 0.0, 90.0",
"189, -87.3, 1.37, 0.0, 0.0, -90.0",
"20, -187.5, 1.37, 0.0, 0.0, 180.0",
"210.1, -87.3, 1.37, 0.0, 0.0, 90.0"
],
[
"659.0, -70.5, 1.37, 0.0, 0.0, -90.0",
"351.5, 10.5, 1.37, 0.0, 0.0, 0.0",
"351.5, 24.5, 1.37, 0.0, 0.0, 180.0",
"672.5, -70.5, 1.37, 0.0, 0.0, 90.0",
"659.0, -70.5, 1.37, 0.0, 0.0, -90.0"
],
[
"-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",
"70.5, 5.0, 1.37, 0.0, 0.0, 60.0",
"-184.5, -107.2, 1.37, 0.0, 0.0, 180.0",
"-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",
"70.5, 5.0, 1.37, 0.0, 0.0, 60.0"
]
]
Dataset:
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