Update the simulation section (#572)

* suppress device warning * add system design * add system design to .ipynb * text * system design * more update * fix simple pbr to 0.10.0 * format
metadriverse · Dec 5, 2023 · 73187f6 · 73187f6
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diff --git a/documentation/source/action.ipynb b/documentation/source/action.ipynb
@@ -785,7 +785,7 @@
    "metadata": {},
    "source": [
     "### ReplayPolicy\n",
-    "Usually, we use [ScenarioNet](https://metadriverse.github.io/scenarionet/) to convert scenarios collected by Waymo, nuScenes, nuPlan, and Argoverse to internal [Scenario Description](TODO) and rebuild the scenarios in MetaDrive. Thus this policy is used to load and replay the recorded traffic trajectories for these real-world scenarios. There are two replay policies for replaying the trajectories of ego car and traffic participants, respectively:\n",
+    "Usually, we use [ScenarioNet](https://metadriverse.github.io/scenarionet/) to convert scenarios collected by Waymo, nuScenes, nuPlan, and Argoverse to internal [Scenario Description](description.ipynb) and rebuild the scenarios in MetaDrive. Thus this policy is used to load and replay the recorded traffic trajectories for these real-world scenarios. There are two replay policies for replaying the trajectories of ego car and traffic participants, respectively:\n",
     "* **ReplayEgoCarPolicy**\n",
     "* **ReplayTrafficParticipantPolicy**\n",
     "\n",
@@ -950,7 +950,42 @@
    "metadata": {},
    "source": [
     "## Customization\n",
-    "To make a new policy suiting your need, just create a subclass of `BasePolicy` and override mainly the function `def act()`. If this policy will be assigned to an agent, it has to have a correctly defined `get_input_space`, which will be used to create `env.action_space`. "
+    "To make a new policy suiting your need, just create a subclass of `BasePolicy` and override mainly the function `def act()`. If this policy will be assigned to an agent, it has to have a correctly defined `get_input_space`, which will be used to create `env.action_space`. \n",
+    "The following example shows how to create a policy always executing a left-turning command."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "91f88dc8-80d6-466e-9033-793e49ec03fe",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from metadrive.policy.base_policy import BasePolicy\n",
+    "from metadrive.envs import MetaDriveEnv\n",
+    "from IPython.display import clear_output, Image\n",
+    "\n",
+    "class LeftTurningPolicy(BasePolicy):\n",
+    "    def act(self, *args, **kwargs):\n",
+    "        # Always turn left\n",
+    "        return [0.4, 0.4]\n",
+    "\n",
+    "env = MetaDriveEnv(dict(agent_policy=LeftTurningPolicy,\n",
+    "                        map=\"S\"))\n",
+    "try:\n",
+    "    env.reset()\n",
+    "    for _ in range(220):\n",
+    "        env.step([-1, -1]) # it doesn't take effect \n",
+    "        env.render(mode=\"topdown\", \n",
+    "                   window=False,\n",
+    "                   screen_size=(200, 250),\n",
+    "                   camera_position=(0, 20),\n",
+    "                   screen_record=True)\n",
+    "    env.top_down_renderer.generate_gif()\n",
+    "finally:\n",
+    "    env.close()\n",
+    "    clear_output()\n",
+    "Image(open(\"demo.gif\", 'rb').read())"
    ]
   }
  ],
@@ -970,7 +1005,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.13"
+   "version": "3.9.17"
   },
   "mystnb": {
    "execution_mode": "auto"

diff --git a/documentation/source/concept.rst b/documentation/source/concept.rst
diff --git a/documentation/source/config_system.ipynb b/documentation/source/config_system.ipynb
@@ -207,6 +207,17 @@
     "assert not SCENARIO_ENV_CONFIG[\"show_sidewalk\"]"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "id": "5dab9545-cc22-4634-addf-6553e78abd06",
+   "metadata": {},
+   "source": [
+    "### Programming with Configs\n",
+    "\n",
+    "The configs can be accessed everywhere in the program just like the simulation engine instance, so we can use these parameters to adjust the behavior of the simulation.\n",
+    "A tutorial of accessing configs when programming new environments is available at <a href=\"system_design.html#config\">config</a>."
+   ]
+  },
   {
    "cell_type": "markdown",
    "id": "e43d0c22",
@@ -257,7 +268,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.13"
+   "version": "3.9.17"
   },
   "mystnb": {
    "execution_mode": "force"

diff --git a/documentation/source/description.ipynb b/documentation/source/description.ipynb
@@ -0,0 +1,33 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "id": "6bac10fe-c1e7-4896-8925-53801b27f796",
+   "metadata": {},
+   "source": [
+    "# Scenario Description "
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.9.17"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/documentation/source/figs/execution_queue.png b/documentation/source/figs/execution_queue.png
diff --git a/documentation/source/figs/sim.png b/documentation/source/figs/sim.png
diff --git a/documentation/source/index.rst b/documentation/source/index.rst
@@ -53,13 +53,14 @@ Please feel free to contact us if you have any suggestions or ideas!
    :maxdepth: 2
    :caption: Concepts and Customization
 
-   concept.rst
+   system_design.ipynb
    development.rst
    top_down_render.ipynb
    policy.rst
    navigation.ipynb
    sensors.ipynb
    gui.ipynb
+   description.ipynb
    record_replay.ipynb
 
 .. toctree::