fix ipynb (#568)

metadriverse · Nov 30, 2023 · b7b5b1e · b7b5b1e
1 parent bb145cf
commit b7b5b1e
Showing 1 changed file with 16 additions and 25 deletions.
diff --git a/metadrive/examples/Basic_MetaDrive_Usages.ipynb b/metadrive/examples/Basic_MetaDrive_Usages.ipynb
@@ -139,32 +139,20 @@
     "\n",
     "ep_reward = 0.0\n",
     "obs, info = env.reset()\n",
-    "frames = []\n",
     "for i in range(1000):\n",
     "    obs, reward, terminated, truncated, info = env.step(expert(env.vehicle))\n",
     "    ep_reward += reward\n",
-    "    frame = env.render(mode=\"top_down\", film_size=(800, 800), track_target_vehicle=True, screen_size=(500, 500))\n",
-    "    frames.append(frame)\n",
+    "    env.render(mode=\"top_down\", screen_record=True, track_target_vehicle=True, screen_size=(500, 500))\n",
     "    if terminated or truncated:\n",
     "        print(\"Arriving Destination: {}\".format(info[\"arrive_dest\"]))\n",
     "        print(\"\\nEpisode reward: \", ep_reward)\n",
     "        break\n",
     "\n",
     "print(\"\\nThe last returned information: {}\".format(info))\n",
-    "\n",
+    "env.top_down_renderer.generate_gif()\n",
     "env.close()\n",
     "print(\"\\nMetaDrive successfully run!\")\n",
     "\n",
-    "# render image\n",
-    "print(\"\\nGenerate gif...\")\n",
-    "import pygame\n",
-    "import numpy as np\n",
-    "from PIL import Image\n",
-    "\n",
-    "imgs = [pygame.surfarray.array3d(frame) for frame in frames]\n",
-    "imgs = [Image.fromarray(img) for img in imgs]\n",
-    "imgs[0].save(\"demo.gif\", save_all=True, append_images=imgs[1:], duration=50, loop=0)\n",
-    "print(\"\\nOpen gif...\")\n",
     "from IPython.display import Image\n",
     "Image(open(\"demo.gif\", 'rb').read())\n"
    ]
@@ -206,7 +194,7 @@
     "    obs, reward, terminated, truncated, info = env.step(expert(env.vehicle))\n",
     "    ep_reward += reward\n",
     "    ep_cost += info[\"cost\"]\n",
-    "    frame = env.render(mode=\"top_down\", film_size=(1500, 1500), track_target_vehicle=True, screen_size=(500, 500))\n",
+    "    frame = env.render(mode=\"top_down\", no_window=True, track_target_vehicle=True, screen_size=(500, 500))\n",
     "    frames.append(frame)\n",
     "    if terminated or truncated:\n",
     "        print(\"Arriving Destination: {}\".format(info[\"arrive_dest\"]))\n",
@@ -223,7 +211,7 @@
     "import numpy as np\n",
     "from PIL import Image\n",
     "\n",
-    "imgs = [pygame.surfarray.array3d(frame) for frame in frames]\n",
+    "imgs = [frame for frame in frames]\n",
     "imgs = [Image.fromarray(img) for img in imgs]\n",
     "imgs[0].save(\"demo.gif\", save_all=True, append_images=imgs[1:], duration=50, loop=0)\n",
     "print(\"\\nOpen gif...\")\n",
@@ -269,7 +257,10 @@
     "        for a in action.values(): \n",
     "            a[-1] = 1.0\n",
     "        o,r,tm,tc,i = env.step(action)\n",
-    "        frame = env.render(mode=\"top_down\", film_size=(500, 500), track_target_vehicle=False, screen_size=(500, 500))\n",
+    "        frame = env.render(mode=\"top_down\", \n",
+    "                           scaling=4, # 4 pixels per meter\n",
+    "                           camera_position=env.current_map.get_center_point(), \n",
+    "                           screen_size=(500, 500))\n",
     "        frames.append(frame)\n",
     "    env.close()\n",
     "\n",
@@ -279,7 +270,7 @@
     "import numpy as np\n",
     "from PIL import Image\n",
     "\n",
-    "imgs = [pygame.surfarray.array3d(frame) for frame in frames]\n",
+    "imgs = [frame for frame in frames]\n",
     "imgs = [Image.fromarray(img) for img in imgs]\n",
     "imgs[0].save(\"demo.gif\", save_all=True, append_images=imgs[1:], duration=50, loop=0)\n",
     "print(\"\\nOpen gif...\")\n",
@@ -303,23 +294,23 @@
     "from metadrive.policy.replay_policy import ReplayEgoCarPolicy\n",
     "from metadrive.constants import HELP_MESSAGE\n",
     "from metadrive.engine.asset_loader import AssetLoader\n",
-    "from metadrive.envs.real_data_envs.waymo_env import WaymoEnv\n",
+    "from metadrive.envs import ScenarioEnv\n",
     "\n",
     "\n",
-    "class DemoWaymoEnv(WaymoEnv):\n",
+    "class DemoEnv(ScenarioEnv):\n",
     "    def reset(self, seed=None):\n",
     "        if self.engine is not None:\n",
     "            seeds = [i for i in range(self.config[\"num_scenarios\"])]\n",
     "            seeds.remove(self.current_seed)\n",
     "            seed = random.choice(seeds)\n",
-    "        return super(DemoWaymoEnv, self).reset(seed=seed)\n",
+    "        return super(DemoEnv, self).reset(seed=seed)\n",
     "\n",
     "\n",
     "extra_args = dict(film_size=(1200, 1200))\n",
     "asset_path = AssetLoader.asset_path\n",
     "\n",
     "try:\n",
-    "    env = DemoWaymoEnv(\n",
+    "    env = DemoEnv(\n",
     "        {\n",
     "            \"manual_control\": False,\n",
     "            \"reactive_traffic\": False,\n",
@@ -353,7 +344,7 @@
     "import numpy as np\n",
     "from PIL import Image\n",
     "\n",
-    "imgs = [pygame.surfarray.array3d(frame) for frame in frames]\n",
+    "imgs = [frame for frame in frames]\n",
     "imgs = [Image.fromarray(img) for img in imgs]\n",
     "imgs[0].save(\"demo.gif\", save_all=True, append_images=imgs[1:], duration=50, loop=0)\n",
     "print(\"\\nOpen gif...\")\n",
@@ -397,7 +388,7 @@
     "from metadrive.utils.draw_top_down_map import draw_top_down_map\n",
     "\n",
     "env = MetaDriveEnv(config=dict(\n",
-    "    environment_num=100,\n",
+    "    num_scenarios=100,\n",
     "    map=7,\n",
     "    start_seed=random.randint(0, 1000)\n",
     "))\n",
@@ -443,7 +434,7 @@
     "from metadrive import MetaDriveEnv\n",
     "\n",
     "env = MetaDriveEnv(config=dict(\n",
-    "    environment_num=100,\n",
+    "    num_scenarios=100,\n",
     "    map=\"CrTRXOS\",\n",
     "    start_seed=random.randint(0, 1000)\n",
     "))\n",