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fix donkey gym bug #1052

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merged 1 commit into from
Oct 19, 2022
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fix donkey gym bug #1052

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fix donkey gym bug
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@sctse999
sctse999 committed Oct 18, 2022
commit 1cfd5f93a6f5e71149c0c0afbc0da92e9461aab0
10 changes: 5 additions & 5 deletions donkeycar/templates/complete.py
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Original file line number Diff line number Diff line change
Expand Up @@ -669,7 +669,7 @@ def add_simulator(V, cfg):
gym = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF,
record_location=cfg.SIM_RECORD_LOCATION, record_gyroaccel=cfg.SIM_RECORD_GYROACCEL,
record_velocity=cfg.SIM_RECORD_VELOCITY, record_lidar=cfg.SIM_RECORD_LIDAR,
record_distance=cfg.SIM_RECORD_DISTANCE, record_orientation=cfg.SIM_RECORD_ORIENTATION,
# record_distance=cfg.SIM_RECORD_DISTANCE, record_orientation=cfg.SIM_RECORD_ORIENTATION,
delay=cfg.SIM_ARTIFICIAL_LATENCY)
threaded = True
inputs = ['angle', 'throttle']
Expand All @@ -683,10 +683,10 @@ def add_simulator(V, cfg):
outputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
if cfg.SIM_RECORD_LIDAR:
outputs += ['lidar/dist_array']
if cfg.SIM_RECORD_DISTANCE:
outputs += ['dist/left', 'dist/right']
if cfg.SIM_RECORD_ORIENTATION:
outputs += ['roll', 'pitch', 'yaw']
# if cfg.SIM_RECORD_DISTANCE:
# outputs += ['dist/left', 'dist/right']
# if cfg.SIM_RECORD_ORIENTATION:
# outputs += ['roll', 'pitch', 'yaw']

V.add(gym, inputs=inputs, outputs=outputs, threaded=threaded)

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