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Commit 02559e5

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dmh23dmh23
committedJul 30, 2024
Add various modified tracks
1 parent e6762a3 commit 02559e5

15 files changed

+785
-158
lines changed
 

‎src/main/version.py

+1-1
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@@ -6,4 +6,4 @@
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# Copyright (c) 2021 dmh23
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#
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9-
VERSION = "3.2.30"
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VERSION = "3.2.31"

‎src/personalize/configuration/analysis.py

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@@ -6,7 +6,7 @@
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# Copyright (c) 2021 dmh23
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#
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9-
from src.personalize.reward_functions.follow_centre_line import reward_function
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from src.personalize.reward_functions.stay_inside_the_two_borders import reward_function
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NEW_REWARD_FUNCTION = reward_function
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‎src/personalize/configuration/personal_track_annotations.py

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Original file line numberDiff line numberDiff line change
@@ -91,6 +91,10 @@
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cosmic_loop_annotations = []
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cosmic_loop_cw_annotations = []
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cosmic_loop_ccw_annotations = []
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cosmic_circuit_annotations = []
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cosmic_circuit_cw_annotations = []
@@ -99,6 +103,10 @@
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baja_turnpike_annotations = []
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baja_turnpike_cw_annotations = []
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baja_turnpike_ccw_annotations = []
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hot_rod_speedway_annotations = []
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hot_rod_super_speedway_annotations = []
@@ -147,6 +155,10 @@
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ross_raceway_annotations = []
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ross_raceway_cw_annotations = []
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ross_raceway_ccw_annotations = []
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ross_super_speedway_annotations = []
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oval_track_annotations = []

‎src/personalize/reward_functions/stay_inside_the_two_borders.py

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@@ -13,7 +13,7 @@ def reward_function(params):
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# Give a high reward if no wheels go off the track and
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# the agent is somewhere in between the track borders
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if all_wheels_on_track and (0.5 * track_width - distance_from_center) >= 0.05:
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if all_wheels_on_track and (0.5 * track_width - distance_from_center) >= 0.01:
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reward = 1.0
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# Always return a float value

‎src/tracks/aws_summit_raceway_track.py

+151-151
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‎src/tracks/baja_turnpike_ccw_track.py

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@@ -0,0 +1,95 @@
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#
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# DeepRacer Guru
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#
4+
# Version 3.0 onwards
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#
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# Copyright (c) 2021 dmh23
7+
#
8+
9+
from src.tracks.track import Track
10+
import src.personalize.configuration.personal_track_annotations as config
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12+
13+
class BajaTurnpikeCounterClockwiseTrack(Track):
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def __init__(self):
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super().__init__()
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self._ui_name = "Baja Turnpike (Counter Clockwise)"
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self._ui_description = "At 40.79m, the Baja Turnpike is a short angular track that mixes full throttle straightaways with hard decelerating turns. Signature features include a long high speed sprint over the finish line end capped by a harsh hairpin and tight 90 degree turn. While you won't find any sand traps on this course there are no shortage of places to get stuck."
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self._ui_length_in_m = 40.79 # metres
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self._ui_width_in_cm = 107 # centimetres # TODO
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self._world_name = "dubai_open_ccw"
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self._track_sector_dividers = [41, 63, 104]
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self._annotations = config.baja_turnpike_ccw_annotations
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self._track_width = 1.066
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self._track_waypoints = [(3.950928507693535, -3.69079912800623), (4.080924034118652, -3.691877603530884),
27+
(4.210920565901984, -3.692827195182715), (4.382360219955444, -3.6940795183181763),
28+
(4.683799982070923, -3.6956875324249268), (4.985241889953613, -3.696749448776245),
29+
(5.286685466766357, -3.697621464729309), (5.588128328323364, -3.6982275247573853),
30+
(5.88957238197327, -3.6981979608535767), (6.191009044647217, -3.6962000131607056),
31+
(6.492312908172607, -3.6876258850097656), (6.791759014129639, -3.6547924280166626),
32+
(7.081470489501953, -3.5735830068588257), (7.332525014877319, -3.410319447517395),
33+
(7.474010944366455, -3.14833402633667), (7.499720335006714, -2.850155472755432),
34+
(7.363946914672852, -2.5843199491500854), (7.173987627029419, -2.3502819538116455),
35+
(6.985767364501953, -2.114836037158966), (6.804365158081055, -1.8740885257720947),
36+
(6.624726057052612, -1.6320180296897888), (6.445286273956299, -1.3897989988327026),
37+
(6.264089584350586, -1.1488941013813019), (6.080683469772339, -0.9096648991107941),
38+
(5.895416975021362, -0.6718760132789612), (5.705914497375488, -0.43745480477809906),
39+
(5.507227659225464, -0.21082550287246704), (5.281243562698364, -0.011858955025672913),
40+
(5.019205093383789, 0.13565018773078918), (4.726649522781372, 0.2029181569814682),
41+
(4.427933931350708, 0.17358151078224182), (4.150216579437256, 0.05846509337425232),
42+
(3.9051625728607178, -0.1162790060043335), (3.6944445371627808, -0.3314297990873456),
43+
(3.52287757396698, -0.5782313048839569), (3.34755539894104, -0.8230813443660736),
44+
(3.117190957069397, -1.014411062002182), (2.823462963104248, -1.048894315958023),
45+
(2.5425695180892944, -0.9423088282346725), (2.287167012691498, -0.7826267331838608),
46+
(2.0497769713401794, -0.5969669222831726), (1.8246304392814636, -0.396574447164312),
47+
(1.6090155243873596, -0.1859409362077713), (1.4012140035629272, 0.03241489827632904),
48+
(1.2013119161128998, 0.2580200042575598), (1.0833406150341034, 0.5281152874231339),
49+
(1.1419822871685028, 0.8214657008647919), (1.2658330202102661, 1.0962168872356415),
50+
(1.3383177518844604, 1.3869315385818481), (1.3048562109470367, 1.6848074793815613),
51+
(1.1721148788928986, 1.9540094137191772), (0.9851396083831787, 2.189570963382721),
52+
(0.8915944695472717, 2.474425435066223), (0.8960334658622742, 2.7749634981155396),
53+
(0.8876371681690216, 3.0760949850082397), (0.8103999793529512, 3.3638650178909297),
54+
(0.5958593189716339, 3.5699158906936646), (0.3031390458345413, 3.63471257686615),
55+
(0.0027566663920879364, 3.629111409187317), (-0.2810694947838783, 3.530505418777466),
56+
(-0.5574118494987488, 3.4100760221481323), (-0.8338039219379425, 3.2897599935531616),
57+
(-1.1104708909988403, 3.1700780391693115), (-1.3877255320549011, 3.0517630577087402),
58+
(-1.6653814911842346, 2.9343940019607544), (-1.9439845085144043, 2.81929349899292),
59+
(-2.222544074058532, 2.7043595314025883), (-2.4292145371437073, 2.490322470664978),
60+
(-2.531414031982422, 2.207840085029602), (-2.570138454437256, 1.9092274904251105),
61+
(-2.571033477783203, 1.607920527458191), (-2.5436344146728516, 1.307834506034851),
62+
(-2.543987512588501, 1.0065081119537354), (-2.5559149980545044, 0.7053195536136627),
63+
(-2.577704429626465, 0.40467534959316254), (-2.6298564672470093, 0.10895124822854996),
64+
(-2.8069639205932617, -0.13024795055389404),
65+
(-3.079822540283203, -0.25271280109882355),
66+
(-3.3793740272521973, -0.27682261168956757), (-3.680745005607605, -0.2830702066421509),
67+
(-3.982012629508972, -0.29336024075746536), (-4.283173322677612, -0.30639660358428955),
68+
(-4.584182500839233, -0.3225426524877548), (-4.884918212890625, -0.3431548550724983),
69+
(-5.1852850914001465, -0.3685767129063606), (-5.4850382804870605, -0.4003926068544388),
70+
(-5.783773422241211, -0.44061698764562607), (-6.078557491302492, -0.5028667659498757),
71+
(-6.363204002380373, -0.6013959273695954), (-6.630854606628418, -0.739419236779213),
72+
(-6.872910976409912, -0.9185139536857605), (-7.0820136070251465, -1.1351681351661682),
73+
(-7.254258155822754, -1.382277011871338), (-7.34139347076416, -1.6690660119056702),
74+
(-7.387735366821289, -1.9668999314308167), (-7.4251549243927, -2.266007900238037),
75+
(-7.459522008895874, -2.5654854774475098), (-7.503427982330322, -2.863569498062134),
76+
(-7.467283487319946, -3.1605805158615112), (-7.307396411895752, -3.413208484649658),
77+
(-7.058011531829834, -3.5796995162963867), (-6.769632339477539, -3.665069103240967),
78+
(-6.469611644744873, -3.6876468658447266), (-6.168218612670898, -3.682096004486084),
79+
(-5.866819381713867, -3.6769909858703613), (-5.565416097640991, -3.6723331212997437),
80+
(-5.264007091522217, -3.668121099472046), (-4.9625935554504395, -3.664355516433716),
81+
(-4.661174535751343, -3.6610360145568848), (-4.359750509262085, -3.658163547515869),
82+
(-4.058321475982666, -3.655737042427063), (-3.756887435913086, -3.653757095336914),
83+
(-3.455448031425476, -3.652222990989685), (-3.1540040969848633, -3.651136040687561),
84+
(-2.852554440498352, -3.6504945755004883), (-2.551100015640259, -3.6503000259399414),
85+
(-2.249640464782715, -3.650551438331604), (-1.948175966739651, -3.6512495279312134),
86+
(-1.6467059850692713, -3.6523945331573486), (-1.3452314734458888, -3.6539701223373413),
87+
(-1.0437574982643127, -3.6556949615478516), (-0.7422859072685242, -3.6574645042419434),
88+
(-0.440816849470135, -3.659278988838196), (-0.13935019820928574, -3.6611385345458984),
89+
(0.16211390495300293, -3.6630420684814453), (0.463575541973114, -3.664990544319153),
90+
(0.7650347650051152, -3.6669840812683105), (1.0664914846420237, -3.6690213680267334),
91+
(1.3679460287094116, -3.671104073524475), (1.6693974733352661, -3.673231363296509),
92+
(1.9708464741706848, -3.675402879714966), (2.272293448448181, -3.6776195764541626),
93+
(2.5737375020980835, -3.6798804998397827), (2.8751794099807775, -3.682186007499695),
94+
(3.1766189336776733, -3.6845364570617676), (3.478055477142334, -3.6869314908981323),
95+
(3.7794899940490723, -3.6893768310546875), (3.950928507693535, -3.69079912800623)]

‎src/tracks/baja_turnpike_cw_track.py

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1+
#
2+
# DeepRacer Guru
3+
#
4+
# Version 3.0 onwards
5+
#
6+
# Copyright (c) 2021 dmh23
7+
#
8+
9+
from src.tracks.track import Track
10+
import src.personalize.configuration.personal_track_annotations as config
11+
12+
13+
class BajaTurnpikeClockwiseTrack(Track):
14+
def __init__(self):
15+
super().__init__()
16+
17+
self._ui_name = "Baja Turnpike (Clockwise)"
18+
self._ui_description = "At 40.79m, the Baja Turnpike is a short angular track that mixes full throttle straightaways with hard decelerating turns. Signature features include a long high speed sprint over the finish line end capped by a harsh hairpin and tight 90 degree turn. While you won't find any sand traps on this course there are no shortage of places to get stuck."
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self._ui_length_in_m = 40.79 # metres
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self._ui_width_in_cm = 107 # centimetres # TODO
21+
self._world_name = "dubai_open_cw"
22+
self._track_sector_dividers = [35, 76, 98]
23+
self._annotations = config.baja_turnpike_cw_annotations
24+
self._track_width = 1.066
25+
26+
self._track_waypoints = [(4.210920565901984, -3.692827195182715), (4.080924034118652, -3.691877603530884),
27+
(3.950928507693535, -3.69079912800623), (3.7794899940490723, -3.6893768310546875),
28+
(3.478055477142334, -3.6869314908981323), (3.1766189336776733, -3.6845364570617676),
29+
(2.8751794099807775, -3.682186007499695), (2.5737375020980835, -3.6798804998397827),
30+
(2.272293448448181, -3.6776195764541626), (1.9708464741706848, -3.675402879714966),
31+
(1.6693974733352661, -3.673231363296509), (1.3679460287094116, -3.671104073524475),
32+
(1.0664914846420237, -3.6690213680267334), (0.7650347650051152, -3.6669840812683105),
33+
(0.463575541973114, -3.664990544319153), (0.16211390495300293, -3.6630420684814453),
34+
(-0.13935019820928574, -3.6611385345458984), (-0.440816849470135, -3.659278988838196),
35+
(-0.7422859072685242, -3.6574645042419434), (-1.0437574982643127, -3.6556949615478516),
36+
(-1.3452314734458888, -3.6539701223373413), (-1.6467059850692713, -3.6523945331573486),
37+
(-1.948175966739651, -3.6512495279312134), (-2.249640464782715, -3.650551438331604),
38+
(-2.551100015640259, -3.6503000259399414), (-2.852554440498352, -3.6504945755004883),
39+
(-3.1540040969848633, -3.651136040687561), (-3.455448031425476, -3.652222990989685),
40+
(-3.756887435913086, -3.653757095336914), (-4.058321475982666, -3.655737042427063),
41+
(-4.359750509262085, -3.658163547515869), (-4.661174535751343, -3.6610360145568848),
42+
(-4.9625935554504395, -3.664355516433716), (-5.264007091522217, -3.668121099472046),
43+
(-5.565416097640991, -3.6723331212997437), (-5.866819381713867, -3.6769909858703613),
44+
(-6.168218612670898, -3.682096004486084), (-6.469611644744873, -3.6876468658447266),
45+
(-6.769632339477539, -3.665069103240967), (-7.058011531829834, -3.5796995162963867),
46+
(-7.307396411895752, -3.413208484649658), (-7.467283487319946, -3.1605805158615112),
47+
(-7.503427982330322, -2.863569498062134), (-7.459522008895874, -2.5654854774475098),
48+
(-7.4251549243927, -2.266007900238037), (-7.387735366821289, -1.9668999314308167),
49+
(-7.34139347076416, -1.6690660119056702), (-7.254258155822754, -1.382277011871338),
50+
(-7.0820136070251465, -1.1351681351661682), (-6.872910976409912, -0.9185139536857605),
51+
(-6.630854606628418, -0.739419236779213), (-6.363204002380373, -0.6013959273695954),
52+
(-6.078557491302492, -0.5028667659498757), (-5.783773422241211, -0.44061698764562607),
53+
(-5.4850382804870605, -0.4003926068544388), (-5.1852850914001465, -0.3685767129063606),
54+
(-4.884918212890625, -0.3431548550724983), (-4.584182500839233, -0.3225426524877548),
55+
(-4.283173322677612, -0.30639660358428955), (-3.982012629508972, -0.29336024075746536),
56+
(-3.680745005607605, -0.2830702066421509), (-3.3793740272521973, -0.27682261168956757),
57+
(-3.079822540283203, -0.25271280109882355),
58+
(-2.8069639205932617, -0.13024795055389404),
59+
(-2.6298564672470093, 0.10895124822854996), (-2.577704429626465, 0.40467534959316254),
60+
(-2.5559149980545044, 0.7053195536136627), (-2.543987512588501, 1.0065081119537354),
61+
(-2.5436344146728516, 1.307834506034851), (-2.571033477783203, 1.607920527458191),
62+
(-2.570138454437256, 1.9092274904251105), (-2.531414031982422, 2.207840085029602),
63+
(-2.4292145371437073, 2.490322470664978), (-2.222544074058532, 2.7043595314025883),
64+
(-1.9439845085144043, 2.81929349899292), (-1.6653814911842346, 2.9343940019607544),
65+
(-1.3877255320549011, 3.0517630577087402), (-1.1104708909988403, 3.1700780391693115),
66+
(-0.8338039219379425, 3.2897599935531616), (-0.5574118494987488, 3.4100760221481323),
67+
(-0.2810694947838783, 3.530505418777466), (0.0027566663920879364, 3.629111409187317),
68+
(0.3031390458345413, 3.63471257686615), (0.5958593189716339, 3.5699158906936646),
69+
(0.8103999793529512, 3.3638650178909297), (0.8876371681690216, 3.0760949850082397),
70+
(0.8960334658622742, 2.7749634981155396), (0.8915944695472717, 2.474425435066223),
71+
(0.9851396083831787, 2.189570963382721), (1.1721148788928986, 1.9540094137191772),
72+
(1.3048562109470367, 1.6848074793815613), (1.3383177518844604, 1.3869315385818481),
73+
(1.2658330202102661, 1.0962168872356415), (1.1419822871685028, 0.8214657008647919),
74+
(1.0833406150341034, 0.5281152874231339), (1.2013119161128998, 0.2580200042575598),
75+
(1.4012140035629272, 0.03241489827632904), (1.6090155243873596, -0.1859409362077713),
76+
(1.8246304392814636, -0.396574447164312), (2.0497769713401794, -0.5969669222831726),
77+
(2.287167012691498, -0.7826267331838608), (2.5425695180892944, -0.9423088282346725),
78+
(2.823462963104248, -1.048894315958023), (3.117190957069397, -1.014411062002182),
79+
(3.34755539894104, -0.8230813443660736), (3.52287757396698, -0.5782313048839569),
80+
(3.6944445371627808, -0.3314297990873456), (3.9051625728607178, -0.1162790060043335),
81+
(4.150216579437256, 0.05846509337425232), (4.427933931350708, 0.17358151078224182),
82+
(4.726649522781372, 0.2029181569814682), (5.019205093383789, 0.13565018773078918),
83+
(5.281243562698364, -0.011858955025672913), (5.507227659225464, -0.21082550287246704),
84+
(5.705914497375488, -0.43745480477809906), (5.895416975021362, -0.6718760132789612),
85+
(6.080683469772339, -0.9096648991107941), (6.264089584350586, -1.1488941013813019),
86+
(6.445286273956299, -1.3897989988327026), (6.624726057052612, -1.6320180296897888),
87+
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