run.py

import yaml
import argparse

from Env.carla_env import CarlaEnv


if __name__ == '__main__':
    parser = argparse.ArgumentParser(description='Carla Env')
    parser.add_argument('--cfg_path', type=str, required=True, help='please input the config file path')
    parser.add_argument('--episode_num', type=int, required=True, help='please input the number of episodes')
    args = parser.parse_args()

    with open(args.cfg_path, 'r') as f:
        cfg = yaml.safe_load(f)

    env = CarlaEnv(cfg)
    for i in range(args.episode_num):
        obs, info =env.reset()
        for i in range(200):
            # A Example with random action policy
            action = env.sample_action()
            obs, reward, terminated, truncated, info = env.step(action)
            print(info)
            if terminated or truncated:
                break

    env.close()