Show lane line in semantic camera (#569)

* only show semantic * optimize polygon * fix * good * optimize line * rename * fix * Add more * filter crosswalk as well * PGMap large * semantic cam * format * expose map region size * fix * allow 2048 meters map * terrain custimzed size * fix camera fov * fix * format * add readme * run config * auto run obs * execute more * fix * execute rl_environment * generate images online * generate * format * generate more * fix test * Meshterrain to terrain * fix test * add examples * adjust readme * try build
metadriverse · Dec 2, 2023 · f9f1a79 · f9f1a79
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diff --git a/.readthedocs.yaml b/.readthedocs.yaml
@@ -32,4 +32,6 @@ sphinx:
 # See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
 python:
     install:
-    - requirements: documentation/requirements.txt
+    - requirements: documentation/requirements.txt
+    - method: pip
+      path: .
diff --git a/README.md b/README.md
@@ -66,7 +66,9 @@ python -m metadrive.examples.profile_metadrive
 
 ## 🚕 Examples
 We provide [examples](https://github.com/metadriverse/metadrive/tree/main/metadrive/examples) to demonstrate features and basic usages of MetaDrive after the local installation.
-Or you can run some examples directly in Colab. [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/metadriverse/metadrive/blob/main/metadrive/examples/Basic_MetaDrive_Usages.ipynb) 
+There is an `.ipynb` example which can be directly opened in Colab. [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/metadriverse/metadrive/blob/main/metadrive/examples/Basic_MetaDrive_Usages.ipynb)
+
+Also, you can try examples in the documentation directly in Colab! See more details in [Documentations](#-documentations).
 
 ### Single Agent Environment
 Run the following command to launch a simple driving scenario with auto-drive mode on. Press W, A, S, D to drive the vehicle manually.
@@ -145,8 +147,17 @@ env.close()
 
 ## 🏫 Documentations
 
-Find more details in: [MetaDrive](https://metadrive-simulator.readthedocs.io)
+Please find more details in: https://metadrive-simulator.readthedocs.io
+
+### Running Examples in Doc
+The documentation is built with `.ipynb` so every example can run locally
+or with colab. For Colab running, on the Colab interface, click “GitHub,” enter the URL of MetaDrive:
+https://github.com/metadriverse/metadrive, and hit the search icon.
+After running examples, you are expected to get the same output and visualization results as the documentation!
+
+For example, hitting the following icon opens the source `.ipynb` file of the documentation section: [Environments](https://metadrive-simulator.readthedocs.io/en/latest/rl_environments.html).
 
+[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/metadriverse/metadrive/blob/main/documentation/source/rl_environments.ipynb)
 
 ## 📎 References
 

diff --git a/documentation/README.md b/documentation/README.md
@@ -1,11 +1,14 @@
-This folder contains files for the documentation: [https://metadrive-simulator.readthedocs.io/](https://metadrive-simulator.readthedocs.io/).
+This folder contains files for the
+documentation: [https://metadrive-simulator.readthedocs.io/](https://metadrive-simulator.readthedocs.io/).
 
 To build documents locally, please run the following codes:
 
-```
+```bash
 pip install sphinx sphinx_rtd_theme mst-nb
 pip install sphinx-copybutton
 cd metadrive/documentation
+rm -rf build/ && make html
+# or
 rm -rf build/ && sphinx-build -j 4 source build
 ```
 
@@ -15,24 +18,65 @@ This tool can only check some external links. For checking cross-reference, usin
 ## Cross-Reference
 
 ### How to reference a section of an `.ipynb` file in an RST file?
+
 Supposing you want to reference a section called TopDwnObservation in obs_action.ipynb, use
+
 ```
 `TopDownObservation <obs_action.html#topdownobservation>`_
 ```
 
 ### How to reference a section of an `.rst` file in an `.ipynb` file?
+
 Supposing you have a section called `Install MetaDrive` in `install.rst`, use
+
 ```
  <a href="install.html#install-metadrive">Install MetaDrive</a>
 ```
 
 ### How to reference a section of an `.ipynb` file in an `.ipynb` file?
-Supposing you have a section called `Top-down Renderer` in `top_down_render.ipynb`, use 
+
+Supposing you have a section called `Top-down Renderer` in `top_down_render.ipynb`, use
+
 ```
  <a href="top_down_renderer.html#top-down-render">Top-down Renderer</a>
  
  or
  
  [Top-down Renderer](top_down_render.ipynb)
 ```
-The second way can not refer to subtitle.
+
+The second way can not refer to subtitle.
+
+### Execution some files when building doc
+
+The doc is set to disable executing all `.ipynb`.
+For enabling executing certain files, set in the file metadata with:
+
+```python
+{
+    "mystnb": {
+        "execution_mode": "force"
+    }
+}
+```
+
+For more details, see: https://myst-nb.readthedocs.io/en/latest/configuration.html
+
+### Execution some cells in a file
+
+If you only want to execute some cells, first set in the file metadata with
+
+```python
+{
+    "mystnb": {
+        "execution_mode": "auto"
+    }
+}
+```
+
+It will auto run cells that doesn't run before. 
+And you need to skip all cells you don't want to run with cell tags:
+
+```python
+{"tags": ["skip-execution"]}
+```
diff --git a/documentation/source/action.ipynb b/documentation/source/action.ipynb
@@ -84,7 +84,11 @@
    "cell_type": "code",
    "execution_count": null,
    "id": "0d6d0b30",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "from metadrive.envs.metadrive_env import MetaDriveEnv\n",
@@ -105,7 +109,7 @@
     "        v.before_step([0, 0.5])\n",
     "        env.step([0,0])\n",
     "        frame=env.render(mode=\"topdown\", \n",
-    "                         no_window=True,\n",
+    "                         window=False,\n",
     "                         screen_size=(800, 200),\n",
     "                         camera_position=(60, 7))\n",
     "        frames.append(frame)\n",
@@ -118,7 +122,11 @@
    "cell_type": "code",
    "execution_count": 17,
    "id": "855f689b",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -344,7 +352,11 @@
    "cell_type": "code",
    "execution_count": null,
    "id": "c4766796",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "from metadrive.envs.metadrive_env import MetaDriveEnv\n",
@@ -361,7 +373,7 @@
     "        # simulation\n",
     "        _,_,_,_,info = env.step([0.5, 1])\n",
     "        frame = env.render(mode=\"topdown\", \n",
-    "                           no_window=True,\n",
+    "                           window=False,\n",
     "                           screen_size=(800, 200),\n",
     "                           camera_position=(60, 15))\n",
     "        frames.append(frame)\n",
@@ -374,7 +386,11 @@
    "cell_type": "code",
    "execution_count": 25,
    "id": "b59aa801",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -407,7 +423,11 @@
    "cell_type": "code",
    "execution_count": 23,
    "id": "956e71cc",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "from metadrive.envs.metadrive_env import MetaDriveEnv\n",
@@ -447,7 +467,7 @@
     "        # simulation\n",
     "        _,_,_,_,info = env.step([steering, 3])\n",
     "        frame= env.render(mode=\"topdown\", \n",
-    "                          no_window=True,\n",
+    "                          window=False,\n",
     "                          text={\"command\": command},\n",
     "                          screen_size=(700, 900),\n",
     "                          camera_position=(60,-54))\n",
@@ -463,7 +483,11 @@
    "cell_type": "code",
    "execution_count": 24,
    "id": "4f028600",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -622,7 +646,11 @@
    "cell_type": "code",
    "execution_count": 17,
    "id": "9c7043c0",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "from metadrive.envs.metadrive_env import MetaDriveEnv\n",
@@ -641,7 +669,7 @@
     "        # simulation\n",
     "        _,_,_,_,info = env.step([0, 3])\n",
     "        env.render(mode=\"topdown\", \n",
-    "                   no_window=True,\n",
+    "                   window=False,\n",
     "                   screen_record=True,\n",
     "                   screen_size=(700, 870),\n",
     "                   camera_position=(60,-63)\n",
@@ -657,7 +685,11 @@
    "cell_type": "code",
    "execution_count": 18,
    "id": "d278a9d9",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -688,7 +720,11 @@
    "cell_type": "code",
    "execution_count": 25,
    "id": "b9d3df1d",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "from metadrive.envs.metadrive_env import MetaDriveEnv\n",
@@ -705,7 +741,7 @@
     "        # simulation\n",
     "        _,_,_,_,info = env.step([0, 3])\n",
     "        env.render(mode=\"topdown\", \n",
-    "                   no_window=True,\n",
+    "                   window=False,\n",
     "                   screen_record=True,\n",
     "                   screen_size=(700, 870),\n",
     "                   camera_position=(60,-63)\n",
@@ -721,7 +757,11 @@
    "cell_type": "code",
    "execution_count": 26,
    "id": "73150b24",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -756,7 +796,11 @@
    "cell_type": "code",
    "execution_count": 28,
    "id": "a19b2939",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "from metadrive.engine.asset_loader import AssetLoader\n",
@@ -772,7 +816,7 @@
     "    for t in range(10000):\n",
     "        o, r, tm, tc, info = env.step([0, 0])\n",
     "        env.render(mode=\"top_down\",\n",
-    "                   no_window=True,\n",
+    "                   window=False,\n",
     "                   screen_record=True,\n",
     "                   screen_size=(700,700))\n",
     "        if info[\"replay_done\"]:\n",
@@ -786,7 +830,11 @@
    "cell_type": "code",
    "execution_count": 29,
    "id": "223c7094",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -819,7 +867,11 @@
    "cell_type": "code",
    "execution_count": 5,
    "id": "08efdb54",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [],
    "source": [
     "import numpy as np\n",
@@ -848,7 +900,7 @@
     "        for i in range(1, 150):\n",
     "            o, r, tm, tc, info = env.step([.0, -1])\n",
     "            env.render(mode=\"top_down\", \n",
-    "                       no_window=True,\n",
+    "                       window=False,\n",
     "                       screen_record=True, \n",
     "                       camera_position=(0,0),\n",
     "                       screen_size=(500, 400))\n",
@@ -870,7 +922,11 @@
    "cell_type": "code",
    "execution_count": 6,
    "id": "c40eee98",
-   "metadata": {},
+   "metadata": {
+    "tags": [
+     "skip-execution"
+    ]
+   },
    "outputs": [
     {
      "data": {
@@ -914,7 +970,10 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.12"
+   "version": "3.7.13"
+  },
+  "mystnb": {
+   "execution_mode": "auto"
   }
  },
  "nbformat": 4,

diff --git a/documentation/source/conf.py b/documentation/source/conf.py
@@ -42,6 +42,7 @@
 
 nbsphinx_execute = 'never'
 nb_execution_mode = 'off'
+nb_execution_timeout = 300
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']