Releases/0.2.0 (#58)

* version 0.2.0 & safe driving example

* format

* windows ignore

* test example

* test examples again

* fix setup.py

* metadrive-simulator

.gitignore

@@ -21,3 +21,4 @@
 /seed*.json
 **/.vscode
 **/.idea
+/metadrive/cutils.cp37-win_amd64.pyd

metadrive/component/blocks/first_block.py

@@ -29,7 +29,7 @@ def __init__(
         lane_num: int,
         render_root_np: NodePath,
         physics_world: PhysicsWorld,
-        length: float = 50,
+        length: float = 30,
         ignore_intersection_checking=False
     ):
         place_holder = PGBlockSocket(Road(Decoration.start, Decoration.end), Road(Decoration.start, Decoration.end))

metadrive/constants.py

@@ -5,7 +5,7 @@
 from panda3d.core import Vec3
 from panda3d.core import Vec4, BitMask32
 
-EDITION = "MetaDrive v0.1.4"
+EDITION = "MetaDrive v0.2.0"
 DEFAULT_AGENT = "default_agent"
 RENDER_MODE_NONE = "none"  # Do not render
 RENDER_MODE_ONSCREEN = "onscreen"  # Pop up a window and draw image in it

metadrive/examples/drive_in_single_agent_env.py

@@ -22,7 +22,7 @@
         random_agent_model=True,
         random_lane_width=True,
         random_lane_num=True,
-        map=7,  # seven block
+        map=4,  # seven block
         start_seed=random.randint(0, 1000)
     )
     parser = argparse.ArgumentParser()

metadrive/tests/test_functionality/test_object_collision_detection.py

@@ -2,46 +2,22 @@
 from metadrive.component.static_object.traffic_object import TrafficCone, TrafficWarning
 from metadrive.constants import BodyName, TerminationState, DEFAULT_AGENT
 from metadrive.envs.safe_metadrive_env import SafeMetaDriveEnv
+from metadrive.manager.object_manager import TrafficObjectManager
 
 
-class ComplexEnv(SafeMetaDriveEnv):
-    """
-    now for test use and demo use only
-    """
-    def default_config(self):
-        config = super(ComplexEnv, self).default_config()
-        config.update(
-            {
-                "environment_num": 1,
-                "traffic_density": 0.02,
-                "start_seed": 5,
-                "accident_prob": 0.0,
-                # "traffic_mode":"respawn",
-                "debug_physics_world": False,
-                "debug": False,
-                "map": "CSRCR"
-            }
-        )
-        return config
-
-    def __init__(self, config=None):
-        super(ComplexEnv, self).__init__(config)
-        self.breakdown_vehicle = None
-        self.alert = None
-
-    def reset(self, episode_data: dict = None, force_seed=None):
-        ret = super(ComplexEnv, self).reset(episode_data)
-        self.vehicle.max_speed = 60
-        lane = self.current_map.road_network.graph[">>>"]["1C0_0_"][0]
-        self.breakdown_vehicle = self.engine.object_manager.spawn_object(
+class ComplexObjectManager(TrafficObjectManager):
+    def reset(self):
+        ret = super(ComplexObjectManager, self).reset()
+        lane = self.engine.current_map.road_network.graph[">>>"]["1C0_0_"][0]
+        breakdown_vehicle = self.engine.object_manager.spawn_object(
             self.engine.traffic_manager.random_vehicle_type(),
             vehicle_config={
                 "spawn_lane_index": lane.index,
                 "spawn_longitude": 30
             }
         )
         self.engine.object_manager.accident_lanes.append(lane)
-        lane_ = self.current_map.road_network.graph[">>>"]["1C0_0_"][1]
+        lane_ = self.engine.current_map.road_network.graph[">>>"]["1C0_0_"][1]
         breakdown_vehicle = self.engine.object_manager.spawn_object(
             LVehicle, vehicle_config={
                 "spawn_lane_index": lane_.index,
@@ -50,12 +26,12 @@ def reset(self, episode_data: dict = None, force_seed=None):
         )
         self.engine.object_manager.accident_lanes.append(lane_)
 
-        self.alert = self.engine.object_manager.spawn_object(
+        alert = self.engine.object_manager.spawn_object(
             TrafficWarning, lane=lane, longitude=22, lateral=0, pbr_model=False
         )
 
         # part 1
-        lane = self.current_map.road_network.graph["1C0_1_"]["2S0_0_"][2]
+        lane = self.engine.current_map.road_network.graph["1C0_1_"]["2S0_0_"][2]
         pos = [
             (-20, lane.width / 3), (-15.6, lane.width / 4), (-12.1, 0), (-8.7, -lane.width / 4),
             (-4.2, -lane.width / 2), (-0.7, -lane.width * 3 / 4), (4.1, -lane.width), (7.3, -lane.width),
@@ -64,7 +40,9 @@ def reset(self, episode_data: dict = None, force_seed=None):
         ]
 
         for p in pos:
-            cone = self.engine.object_manager.spawn_object(TrafficCone, lane=lane, longitude=p[0], lateral=p[1])
+            cone = self.engine.object_manager.spawn_object(
+                TrafficCone, lane=lane, longitude=p[0], lateral=p[1] + lane.width / 2
+            )
         self.engine.object_manager.accident_lanes.append(lane)
         from metadrive.component.vehicle.vehicle_type import SVehicle, XLVehicle
         v_pos = [8, 14]
@@ -78,7 +56,7 @@ def reset(self, episode_data: dict = None, force_seed=None):
             )
 
         # part 2
-        lane = self.current_map.road_network.graph["3R0_0_"]["3R0_1_"][0]
+        lane = self.engine.current_map.road_network.graph["3R0_0_"]["3R0_1_"][0]
         self.engine.object_manager.accident_lanes.append(lane)
         pos = [
             (-20, lane.width / 3), (-15.6, lane.width / 4), (-12.1, 0), (-8.7, -lane.width / 4),
@@ -89,7 +67,9 @@ def reset(self, episode_data: dict = None, force_seed=None):
 
         for p in pos:
             p_ = (p[0] + 5, -p[1])
-            cone = self.engine.object_manager.spawn_object(TrafficCone, lane=lane, longitude=p_[0], lateral=p_[1])
+            cone = self.engine.object_manager.spawn_object(
+                TrafficCone, lane=lane, longitude=p_[0], lateral=-p[1] - lane.width / 2
+            )
 
         v_pos = [14, 19]
         for v_long in v_pos:
@@ -106,7 +86,7 @@ def reset(self, episode_data: dict = None, force_seed=None):
         alert = self.engine.object_manager.spawn_object(TrafficWarning, lane=lane, longitude=-60, lateral=0)
 
         # part 3
-        lane = self.current_map.road_network.graph["4C0_0_"]["4C0_1_"][2]
+        lane = self.engine.current_map.road_network.graph["4C0_0_"]["4C0_1_"][2]
         self.engine.object_manager.accident_lanes.append(lane)
         pos = [
             (-12.1, 0), (-8.7, -lane.width / 4), (-4.2, -lane.width / 2), (-0.7, -lane.width * 3 / 4),
@@ -116,7 +96,9 @@ def reset(self, episode_data: dict = None, force_seed=None):
 
         for p in pos:
             p_ = (p[0] + 5, p[1] * 3.5 / 3)
-            cone = self.engine.object_manager.spawn_object(TrafficCone, lane=lane, longitude=p_[0], lateral=p_[1])
+            cone = self.engine.object_manager.spawn_object(
+                TrafficCone, lane=lane, longitude=p_[0], lateral=p[1] + lane.width / 2
+            )
 
         v_pos = [14, 19]
         for v_long in v_pos:
@@ -129,17 +111,42 @@ def reset(self, episode_data: dict = None, force_seed=None):
             )
 
         # part 4
-        lane = self.current_map.road_network.graph["4C0_1_"]["5R0_0_"][0]
+        lane = self.engine.current_map.road_network.graph["4C0_1_"]["5R0_0_"][0]
         self.engine.object_manager.accident_lanes.append(lane)
-        pos = [(-12, lane.width / 4), (-8.1, 0), (-4, -lane.width / 4), (-0.1, -lane.width / 2), (4, -lane.width)]
-
-        for p in pos:
-            p_ = (p[0] + 60, -p[1] * 3.5 / 3)
-            cone = self.engine.object_manager.spawn_object(TrafficCone, lane=lane, longitude=p_[0], lateral=p_[1])
+        # pos = [(-12, lane.width / 4), (-8.1, 0), (-4, -lane.width / 4), (-0.1, -lane.width / 2), (4, -lane.width)]
+        #
+        # for p in pos:
+        #     p_ = (p[0] + 60, -p[1] * 3.5 / 3)
+        #     cone = self.engine.object_manager.spawn_object(TrafficCone, lane=lane, longitude=p_[0], lateral=p_[1])
 
         return ret
 
 
+class ComplexEnv(SafeMetaDriveEnv):
+    """
+    now for test use and demo use only
+    """
+    def default_config(self):
+        config = super(ComplexEnv, self).default_config()
+        config.update(
+            {
+                "environment_num": 1,
+                "traffic_density": 0.05,
+                "start_seed": 5,
+                "accident_prob": 0.0,
+                # "traffic_mode":"respawn",
+                "debug_physics_world": False,
+                "debug": False,
+                "map": "CSRCR"
+            }
+        )
+        return config
+
+    def setup_engine(self):
+        super(ComplexEnv, self).setup_engine()
+        self.engine.update_manager("object_manager", ComplexObjectManager())
+
+
 def test_object_collision_detection(render=False):
     env = ComplexEnv(
         {

setup.py

@@ -1,12 +1,12 @@
 # Please don't change the order of following packages!
 import sys
 from distutils.core import setup
-from distutils.extension import Extension
 from os import path
 
 import numpy
-from Cython.Build import cythonize
 from setuptools import find_namespace_packages  # This should be place at top!
+from Cython.Build import cythonize
+from distutils.extension import Extension
 
 
 def is_mac():
@@ -27,7 +27,7 @@ def is_win():
 print("We will install the following packages: ", packages)
 
 """ ===== Remember to modify the PG_EDITION at first ====="""
-version = "0.1.4"
+version = "0.2.0"
 
 ext_modules = cythonize([Extension(
     "metadrive.cutils", ["metadrive/cutils.pyx"], include_dirs=[numpy.get_include()]
@@ -56,7 +56,7 @@ def is_win():
     install_requires.append("evdev")
 
 setup(
-    name="metadrive",
+    name="metadrive-simulator",
     version=version,
     description="An open-ended driving simulator with infinite scenes",
     url="https://github.com/decisionforce/metadrive",