Update examples (#66)

* turn on compress-model

* decrease agent num

* auto drive in marl

* update help msg

* format

* remove a comment

* update IO

* marl fix

* fix top down

* esc quit

* format

* update readme

* update catch error

* fix top down

* catch error

* format

Co-authored-by: PENG Zhenghao <pengzh@ie.cuhk.edu.hk>

README.md

@@ -71,6 +71,13 @@ You can also launch an instance of Multi-Agent scenario as follows
 ```bash
 python -m metadrive.examples.drive_in_multi_agent_env --env roundabout
 ```
+
+or launch and render in pygame front end 
+
+```bash
+python -m metadrive.examples.drive_in_multi_agent_env --pygame_render --env roundabout
+```
+
 env argument could be:
 - roundabout (default)
 - intersection

metadrive/constants.py

@@ -34,6 +34,7 @@ class TerminationState:
                "  B: Top-down View Camera (control: WASD-=)\n" \
                "  +: Lift Camera\n" \
                "  -: Lower Camera\n" \
+               "  Mouse click: move camera (top-down view)\n" \
                "  Esc: Quit\n"
 
 DEBUG_MESSAGE = "  1: Box Debug Mode\n" \

metadrive/engine/core/chase_camera.py

@@ -72,7 +72,7 @@ def __init__(self, engine, camera_height: float, camera_dist: float):
 
         # TPP rotate
         props = WindowProperties()
-        props.setCursorHidden(True)
+        # props.setCursorHidden(True)
         # props.setMouseMode(WindowProperties.MConfined)
         self.engine.win.requestProperties(props)
         self.mouse_rotate = 0

metadrive/engine/core/engine_core.py

@@ -115,6 +115,11 @@ def __init__(self, global_config):
                 self.accept('1', self.toggleDebug)
                 self.accept('4', self.toggleAnalyze)
 
+        if self.global_config["disable_model_compression"]:
+            pass
+        else:
+            loadPrcFileData("", "compressed-textures 1")  # Default to compress
+
         super(EngineCore, self).__init__(windowType=self.mode)
 
         # Change window size at runtime if screen too small
@@ -124,10 +129,6 @@ def __init__(self, global_config):
 
         # main_window_position = (0, 0)
         if self.mode == RENDER_MODE_ONSCREEN:
-            if self.global_config["disable_model_compression"]:
-                pass
-            else:
-                loadPrcFileData("", "compressed-textures 1")  # Default to compress
             h = self.pipe.getDisplayHeight()
             w = self.pipe.getDisplayWidth()
             if self.global_config["window_size"][0] > 0.9 * w or self.global_config["window_size"][1] > 0.9 * h:

metadrive/envs/base_env.py

@@ -44,7 +44,7 @@
     # ===== Rendering =====
     use_render=False,  # pop a window to render or not
     debug=False,
-    disable_model_compression=True,  # disable compression if you wish to launch the window quicker.
+    disable_model_compression=False,  # disable compression if you wish to launch the window quicker.
     cull_scene=True,  # only for debug use
     use_chase_camera_follow_lane=False,  # If true, then vision would be more stable.
     camera_height=1.8,
@@ -464,7 +464,7 @@ def _render_topdown(self, *args, **kwargs):
         if self._top_down_renderer is None:
             from metadrive.obs.top_down_renderer import TopDownRenderer
             self._top_down_renderer = TopDownRenderer(self, self.current_map, *args, **kwargs)
-        return self._top_down_renderer.render(list(self.vehicles.values()), self.agent_manager)
+        return self._top_down_renderer.render(self.agent_manager)
 
     @property
     def main_camera(self):

metadrive/envs/marl_envs/marl_bottleneck.py

@@ -11,7 +11,7 @@
 
 MABottleneckConfig = dict(
     spawn_roads=[Road(FirstPGBlock.NODE_2, FirstPGBlock.NODE_3), -Road(Split.node(2, 0, 0), Split.node(2, 0, 1))],
-    num_agents=20,
+    num_agents=12,
     map_config=dict(exit_length=60, bottle_lane_num=4, neck_lane_num=1, neck_length=20),
     top_down_camera_initial_x=95,
     top_down_camera_initial_y=15,

metadrive/envs/marl_envs/marl_inout_roundabout.py

@@ -23,7 +23,7 @@
     top_down_camera_initial_x=95,
     top_down_camera_initial_y=15,
     top_down_camera_initial_z=120,
-    num_agents=40,
+    num_agents=12,
 )
 
 

metadrive/envs/marl_envs/marl_intersection.py

@@ -17,7 +17,7 @@
         -Road(InterSection.node(1, 1, 0), InterSection.node(1, 1, 1)),
         -Road(InterSection.node(1, 2, 0), InterSection.node(1, 2, 1)),
     ],
-    num_agents=30,
+    num_agents=12,
     map_config=dict(exit_length=60, lane_num=2),
     top_down_camera_initial_x=80,
     top_down_camera_initial_y=0,

metadrive/envs/marl_envs/marl_tollgate.py

@@ -14,7 +14,7 @@
 
 MATollConfig = dict(
     spawn_roads=[Road(FirstPGBlock.NODE_2, FirstPGBlock.NODE_3), -Road(Merge.node(3, 0, 0), Merge.node(3, 0, 1))],
-    num_agents=40,
+    num_agents=12,
     map_config=dict(exit_length=70, lane_num=3, toll_lane_num=8, toll_length=10),
     top_down_camera_initial_x=125,
     top_down_camera_initial_y=0,

metadrive/envs/marl_envs/multi_agent_metadrive.py

@@ -12,7 +12,7 @@
 MULTI_AGENT_METADRIVE_DEFAULT_CONFIG = dict(
     # ===== Multi-agent =====
     is_multi_agent=True,
-    num_agents=15,
+    num_agents=12,
     # If num_agents is set to None, then endless vehicles will be added only the empty spawn points exist
     random_agent_model=False,
 
@@ -71,14 +71,14 @@ def _merge_extra_config(self, config) -> "Config":
         ret_config = self.default_config().update(
             config, allow_add_new_key=False, stop_recursive_update=["target_vehicle_configs"]
         )
-        if not ret_config["crash_done"] and ret_config["crash_vehicle_penalty"] > 2:
-            logging.warning(
-                "Are you sure you wish to set crash_vehicle_penalty={} when crash_done=False?".format(
-                    ret_config["crash_vehicle_penalty"]
-                )
-            )
+        # if not ret_config["crash_done"] and ret_config["crash_vehicle_penalty"] > 2:
+        #     logging.warning(
+        #         "Are you sure you wish to set crash_vehicle_penalty={} when crash_done=False?".format(
+        #             ret_config["crash_vehicle_penalty"]
+        #         )
+        #     )
         if ret_config["use_render"] and ret_config["disable_model_compression"]:
-            logging.warning("Turn disable_model_compression=True can accelerate Multi-agent rendering performance!")
+            logging.warning("Turn disable_model_compression=True can decrease the loading time!")
 
         if "prefer_track_agent" in config and config["prefer_track_agent"]:
             ret_config["target_vehicle_configs"][config["prefer_track_agent"]]["use_special_color"] = True

metadrive/examples/drive_in_multi_agent_env.py

@@ -19,6 +19,7 @@
     MultiAgentMetaDrive, MultiAgentTollgateEnv, MultiAgentBottleneckEnv, MultiAgentIntersectionEnv,
     MultiAgentRoundaboutEnv, MultiAgentParkingLotEnv
 )
+from metadrive.constants import HELP_MESSAGE
 
 if __name__ == "__main__":
     envs = dict(
@@ -32,8 +33,10 @@
 
     parser = argparse.ArgumentParser()
     parser.add_argument("--env", type=str, default="roundabout", choices=list(envs.keys()))
+    parser.add_argument("--pygame_render", action="store_true")
     args = parser.parse_args()
     env_cls_name = args.env
+    extra_args = dict(mode="top_down", film_size=(800, 800)) if args.pygame_render else {}
     assert env_cls_name in envs.keys(), "No environment named {}, argument accepted: \n" \
                                         "(1) roundabout\n" \
                                         "(2) intersection\n" \
@@ -42,17 +45,35 @@
                                         "(5) parkinglot\n" \
                                         "(6) pgma" \
         .format(env_cls_name)
-    env = envs[env_cls_name]({"use_render": True, "manual_control": True, "crash_done": False})
-    env.reset()
-    env.switch_to_third_person_view()  # Default is in Top-down view, we switch to Third-person view.
-    for i in range(1, 10000000000):
-        o, r, d, info = env.step({agent_id: [0, 0] for agent_id in env.vehicles.keys()})
-        env.render(
-            text={
-                "Number of existing vehicles": len(env.vehicles),
-                "Tracked agent (Press Q)": env.engine.agent_manager.object_to_agent(env.current_track_vehicle.id)
-            }
-        )
-        if d["__all__"]:
-            env.reset()
-    env.close()
+    env = envs[env_cls_name](
+        {
+            "use_render": True if not args.pygame_render else False,
+            "manual_control": True,
+            "crash_done": False,
+            "IDM_agent": True
+        }
+    )
+    try:
+        env.reset()
+        if env.current_track_vehicle:
+            env.current_track_vehicle.expert_takeover = True
+        print(HELP_MESSAGE)
+        env.switch_to_third_person_view()  # Default is in Top-down view, we switch to Third-person view.
+        for i in range(1, 10000000000):
+            o, r, d, info = env.step({agent_id: [0, 0] for agent_id in env.vehicles.keys()})
+            env.render(
+                **extra_args,
+                text={
+                    "Number of existing vehicles": len(env.vehicles),
+                    "Tracked agent (Press Q)": env.engine.agent_manager.object_to_agent(env.current_track_vehicle.id),
+                    "Auto-Drive (Switch mode: T)": "on" if env.current_track_vehicle.expert_takeover else "off",
+                } if not args.pygame_render else {}
+            )
+            if d["__all__"]:
+                env.reset()
+                if env.current_track_vehicle:
+                    env.current_track_vehicle.expert_takeover = True
+    except:
+        pass
+    finally:
+        env.close()

metadrive/examples/drive_in_safe_metadrive_env.py

@@ -8,22 +8,29 @@
 import logging
 
 from metadrive.tests.test_functionality.test_object_collision_detection import ComplexEnv
+from metadrive.constants import HELP_MESSAGE
 
 if __name__ == "__main__":
     env = ComplexEnv(dict(use_render=True, manual_control=True, vehicle_config={"show_navi_mark": False}))
-    env.reset()
-    env.vehicle.expert_takeover = True
-    for i in range(1, 1000000000):
-        previous_takeover = env.current_track_vehicle.expert_takeover
-        o, r, d, info = env.step([0, 0])
-        env.render(
-            text={
-                "Auto-Drive (Switch mode: T)": "on" if env.current_track_vehicle.expert_takeover else "off",
-                "Total episode cost": env.episode_cost
-            }
-        )
-        if not previous_takeover and env.current_track_vehicle.expert_takeover:
-            logging.warning("Auto-Drive mode may fail to solve some scenarios due to distribution mismatch")
-        if d and info["arrive_dest"]:
-            env.reset()
-    env.close()
+    try:
+        env.reset()
+        print(HELP_MESSAGE)
+        env.vehicle.expert_takeover = True
+        for i in range(1, 1000000000):
+            previous_takeover = env.current_track_vehicle.expert_takeover
+            o, r, d, info = env.step([0, 0])
+            env.render(
+                text={
+                    "Auto-Drive (Switch mode: T)": "on" if env.current_track_vehicle.expert_takeover else "off",
+                    "Total episode cost": env.episode_cost
+                }
+            )
+            if not previous_takeover and env.current_track_vehicle.expert_takeover:
+                logging.warning("Auto-Drive mode may fail to solve some scenarios due to distribution mismatch")
+            if d and info["arrive_dest"]:
+                env.reset()
+                env.current_track_vehicle.expert_takeover = True
+    except:
+        pass
+    finally:
+        env.close()

metadrive/examples/drive_in_single_agent_env.py

@@ -11,6 +11,7 @@
 import numpy as np
 
 from metadrive import MetaDriveEnv
+from metadrive.constants import HELP_MESSAGE
 
 if __name__ == "__main__":
     config = dict(
@@ -31,21 +32,27 @@
     if args.observation == "rgb_camera":
         config.update(dict(offscreen_render=True))
     env = MetaDriveEnv(config)
-    o = env.reset()
-    env.vehicle.expert_takeover = True
-    if args.observation == "rgb_camera":
-        assert isinstance(o, dict)
-        print("The observation is a dict with numpy arrays as values: ", {k: v.shape for k, v in o.items()})
-    else:
-        assert isinstance(o, np.ndarray)
-        print("The observation is an numpy array with shape: ", o.shape)
-    for i in range(1, 1000000000):
-        o, r, d, info = env.step([0, 0])
-        env.render(
-            text={
-                "Auto-Drive (Switch mode: T)": "on" if env.current_track_vehicle.expert_takeover else "off",
-            }
-        )
-        if d and info["arrive_dest"]:
-            env.reset()
-    env.close()
+    try:
+        o = env.reset()
+        print(HELP_MESSAGE)
+        env.vehicle.expert_takeover = True
+        if args.observation == "rgb_camera":
+            assert isinstance(o, dict)
+            print("The observation is a dict with numpy arrays as values: ", {k: v.shape for k, v in o.items()})
+        else:
+            assert isinstance(o, np.ndarray)
+            print("The observation is an numpy array with shape: ", o.shape)
+        for i in range(1, 1000000000):
+            o, r, d, info = env.step([0, 0])
+            env.render(
+                text={
+                    "Auto-Drive (Switch mode: T)": "on" if env.current_track_vehicle.expert_takeover else "off",
+                }
+            )
+            if d and info["arrive_dest"]:
+                env.reset()
+                env.current_track_vehicle.expert_takeover = True
+    except:
+        pass
+    finally:
+        env.close()

metadrive/examples/top_down_metadrive.py

@@ -14,6 +14,7 @@
 """
 
 import random
+from metadrive.constants import HELP_MESSAGE
 
 import matplotlib.pyplot as plt
 
@@ -27,21 +28,30 @@ def draw_multi_channels_top_down_observation(obs):
         "Road and navigation", "Ego now and previous pos", "Neighbor at step t", "Neighbor at step t-1",
         "Neighbor at step t-2"
     ]
-    fig, axs = plt.subplots(1, num_channels, figsize=(15, 4), dpi=150)
+    fig, axs = plt.subplots(1, num_channels, figsize=(15, 4), dpi=80)
     count = 0
+
+    def close_event():
+        plt.close()  # timer calls this function after 3 seconds and closes the window
+
+    timer = fig.canvas.new_timer(interval=4500)  # creating a timer object and setting an interval of 3000 milliseconds
+    timer.add_callback(close_event)
+
     for i, name in enumerate(channel_names):
         count += 1
         ax = axs[i]
         ax.imshow(obs[..., i], cmap="bone")
         ax.set_xticks([])
         ax.set_yticks([])
         ax.set_title(name)
-        print("Drawing {}-th semantic map!".format(count))
+        # print("Drawing {}-th semantic map!".format(count))
     fig.suptitle("Multi-channels Top-down Observation")
+    timer.start()
     plt.show()
 
 
 if __name__ == "__main__":
+    print(HELP_MESSAGE)
     env = TopDownMetaDrive(
         dict(
             # We also support using two renderer (Panda3D renderer and Pygame renderer) simultaneously. You can
@@ -57,11 +67,21 @@ def draw_multi_channels_top_down_observation(obs):
             start_seed=random.randint(0, 1000),
         )
     )
-    o = env.reset()
-    for i in range(1, 100000):
-        o, r, d, info = env.step([0, 1])
-        env.render(mode="top_down")
-        if d:
-            draw_multi_channels_top_down_observation(o)
-            env.reset()
-    env.close()
+    try:
+        o = env.reset()
+        for i in range(1, 100000):
+            o, r, d, info = env.step([0, 1])
+            env.render(mode="top_down", film_size=(800, 800))
+            if d:
+                # print("Close the popup window to continue.")
+                draw_multi_channels_top_down_observation(o)
+                env.reset()
+                # ret = input("Do you wish to quit? Type any ESC to quite, or press enter to continue")
+                # if len(ret) == 0:
+                #     continue
+                # else:
+                #     break
+    except:
+        pass
+    finally:
+        env.close()