Let's first define a list of configuration parameters for the environment using a dictionary, shown as follows:
# Default environment configurationENV_CONFIG = { "enable_planner": True, "use_depth_camera": False, "discrete_actions": True, "server_map": "/Game/Maps/" + city, "scenarios": [scenario_config["Lane_Keep_Town2"]], "framestack": 2, # note: only [1, 2] currently supported "early_terminate_on_collision": True, "verbose": False, "render_x_res": 800, "render_y_res": 600, "x_res": 80, "y_res": 80}
scenario_config defines several parameters that are useful for creating a variety of driving scenarios. The scenario configuration is described in the scenarios.json file, which can be found in the book's code repository at ch7/carla-gym/carla_gym ...
