Introduce Tollgate MARL environment (#447)

* add flexible bottle part length * toll block * fix object bug * runable * fix memory leak * add building type * test script * speed limit * finish * 10 agent * format * test reward * add crash building flag & add test script * format * fix test and format * update config * update camera setting * update configs * update reward scheme * rename to toll gate * update side detector * remove navi info * yellow line * min pass time * finish * format * rename tollgate env * move config to top * format * optimize config * format * optimize * finish this branch Co-authored-by: pengzhenghao <pengzh@ie.cuhk.edu.hk>
decisionforce · May 21, 2021 · 821f7dd · 821f7dd
1 parent 8f5314a
commit 821f7dd
Show file tree

Hide file tree

Showing 30 changed files with 1,572 additions and 60 deletions.
diff --git a/pgdrive/constants.py b/pgdrive/constants.py
@@ -17,6 +17,7 @@ class TerminationState:
     CRASH = "crash"
     CRASH_VEHICLE = "crash_vehicle"
     CRASH_OBJECT = "crash_object"
+    CRASH_BUILDING = "crash_building"
 
 
 HELP_MESSAGE = "Keyboard Shortcuts:\n" \
@@ -53,12 +54,14 @@ class BodyName:
     Broken_line = "Broken Line"
     Sidewalk = "Sidewalk"
     Ground = "Ground"
+    InvisibleWall = "InvisibleWall"
     Base_vehicle = "Target Vehicle"
     Base_vehicle_beneath = "Target Vehicle Beneath"
     Traffic_vehicle = "Traffic Vehicle"
     Lane = "Lane"
     Traffic_cone = "Traffic Cone"
     Traffic_triangle = "Traffic Triangle"
+    TollGate = "Toll Gate"
 
 
 COLOR = {
@@ -70,7 +73,9 @@ class BodyName:
     BodyName.Traffic_cone: "orange",
     BodyName.Traffic_triangle: "orange",
     BodyName.Base_vehicle: "red",
-    BodyName.Base_vehicle_beneath: "red"
+    BodyName.Base_vehicle_beneath: "red",
+    BodyName.InvisibleWall: "red",
+    BodyName.TollGate: "red",
 }
 
 
@@ -110,6 +115,7 @@ class CollisionGroup:
     EgoVehicleBeneath = 6
     BrokenLaneLine = 3
     ContinuousLaneLine = 7
+    InvisibleWall = 8
     TrafficVehicle = 4
     LaneSurface = 5  # useless now, since it is in another physics world
 
@@ -124,6 +130,7 @@ def collision_rules(cls):
             (cls.Terrain, cls.EgoVehicleBeneath, False),
             (cls.Terrain, cls.TrafficVehicle, False),
             (cls.Terrain, cls.ContinuousLaneLine, False),
+            (cls.Terrain, cls.InvisibleWall, False),
 
             # block collision
             (cls.BrokenLaneLine, cls.BrokenLaneLine, False),
@@ -133,31 +140,38 @@ def collision_rules(cls):
             # change it after we design a new traffic system !
             (cls.BrokenLaneLine, cls.TrafficVehicle, False),
             (cls.BrokenLaneLine, cls.ContinuousLaneLine, False),
+            (cls.BrokenLaneLine, cls.InvisibleWall, False),
 
             # traffic vehicles collision
             (cls.TrafficVehicle, cls.TrafficVehicle, False),
             (cls.TrafficVehicle, cls.LaneSurface, False),
             (cls.TrafficVehicle, cls.EgoVehicle, True),
             (cls.TrafficVehicle, cls.EgoVehicleBeneath, True),
             (cls.TrafficVehicle, cls.ContinuousLaneLine, False),
+            # FIXME maybe set to True in the future
+            (cls.TrafficVehicle, cls.InvisibleWall, False),
 
             # ego vehicle collision
             (cls.EgoVehicle, cls.EgoVehicle, True),
             (cls.EgoVehicle, cls.EgoVehicleBeneath, False),
             (cls.EgoVehicle, cls.LaneSurface, False),
             (cls.EgoVehicle, cls.ContinuousLaneLine, False),
+            (cls.EgoVehicle, cls.InvisibleWall, True),
 
             # lane surface
             (cls.LaneSurface, cls.LaneSurface, False),
             (cls.LaneSurface, cls.EgoVehicleBeneath, False),
             (cls.LaneSurface, cls.ContinuousLaneLine, False),
+            (cls.LaneSurface, cls.InvisibleWall, False),
 
             # vehicle beneath
             (cls.EgoVehicleBeneath, cls.EgoVehicleBeneath, True),
             (cls.EgoVehicleBeneath, cls.ContinuousLaneLine, True),
+            (cls.EgoVehicleBeneath, cls.InvisibleWall, True),
 
             # continuous lane line
             (cls.ContinuousLaneLine, cls.ContinuousLaneLine, False),
+            (cls.ContinuousLaneLine, cls.InvisibleWall, False),
         ]
 
     @classmethod

diff --git a/pgdrive/envs/generation_envs/safe_pgdrive_env.py b/pgdrive/envs/generation_envs/safe_pgdrive_env.py
@@ -106,10 +106,10 @@ def cost_function(self, vehicle_id: str):
             "accident_prob": 1.0,
             "manual_control": True,
             "use_render": True,
-            "environment_num": 100,
-            "start_seed": 139,
+            "environment_num": 1,
+            "start_seed": 187,
             "out_of_road_cost": 1,
-            # "debug": True,
+            "debug": True,
             "cull_scene": True,
             "pg_world_config": {
                 "pstats": True
@@ -130,6 +130,7 @@ def cost_function(self, vehicle_id: str):
         o, r, d, info = env.step([0, 1])
         total_cost += info["cost"]
         env.render(text={"cost": total_cost, "seed": env.current_map.random_seed, "reward": r})
+        print(len(env.scene_manager.traffic_manager.traffic_vehicles))
         if d:
             total_cost = 0
             print("done_cost:{}".format(info["cost"]))

diff --git a/pgdrive/envs/marl_envs/marl_intersection.py b/pgdrive/envs/marl_envs/marl_intersection.py
@@ -41,16 +41,7 @@ def _generate(self, pg_world):
         InterSection.EXIT_PART_LENGTH = length
         last_block = InterSection(1, last_block.get_socket(index=0), self.road_network, random_seed=1)
         last_block.add_u_turn(True)
-        last_block.construct_block(
-            parent_node_path,
-            pg_physics_world,
-            extra_config={
-                "exit_radius": 10,
-                "inner_radius": 30,
-                "angle": 70,
-                # Note: lane_num is set in config.map_config.lane_num
-            }
-        )
+        last_block.construct_block(parent_node_path, pg_physics_world)
         self.blocks.append(last_block)