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refactoring of track ingestion #82

Merged
merged 18 commits into from
Jul 11, 2023
Merged

refactoring of track ingestion #82

merged 18 commits into from
Jul 11, 2023

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luigiberducci
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Update track ingestion:

  • env constructor takes only the map name (e.g., Skirk, Vegas), no need to specify map extension anymore.
  • track information will be automatically loaded into a Track object.
  • raceline and centerline will be loaded as Raceline object, if corresponding files exist in the map dir.
  • map directory moved from f110_gym/envs to f110_gym.

I will open a separate issue for the integration and automatic download of f1tenth_racetracks.

@luigiberducci
restructure map directory with subfolders
71ceeae 
adapt map_path in config_example_map.yaml
@luigiberducci
rename map filenames
68dbc6b 
add track loading and test
add dependency for yaml dataclass
@luigiberducci
make use of track in gym env
306c34b 
refactor simulator accordingly
refactoring example, waypoint follower
@luigiberducci
refactor example without loading conf file,
5770801 
delete unused config file,
adapt gym_api_test.py to use map name,
add test to check consistency on the loaded raceline,
add test to check return None if missing raceline
@luigiberducci
correct import scan simulator
ac5ac58 
update gitignore with zip files
@luigiberducci
Merge branch 'update_config_method' into dev_track_refactoring
28e6721 
# Conflicts:
#	examples/waypoint_follow.py
#	gym/f110_gym/envs/base_classes.py
#	gym/f110_gym/envs/f110_env.py
#	gym/f110_gym/unittest/gym_api_test.py
@luigiberducci
use new config dictionary,
c088f03 
refactor old test to simplified track ingestion,
linting
@luigiberducci
Set default map vegas, as originally done
6e159a3
@luigiberducci
Merge branch 'v1.0.0' into dev_track_refactoring
53ba6cc 
# Conflicts:
#	examples/waypoint_follow.py
#	gym/f110_gym/envs/f110_env.py
@luigiberducci
merge v.1.0.0 and adapt test with simplified track ingestion,
0ca3a1c 
add load_spec method for reuse in test,
add test to check map dir structure,
update waypoint_follow example,
linting
@luigiberducci luigiberducci self-assigned this Jul 9, 2023
@luigiberducci luigiberducci added the enhancement New feature or request label Jul 9, 2023
@luigiberducci luigiberducci linked an issue Jul 9, 2023 that may be closed by this pull request
refactoring of track ingestion #77
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@luigiberducci luigiberducci changed the title refactoring track ingestion refactoring of track ingestion Jul 9, 2023
@hzheng40
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I've added the ingestion of the track files and extraction to the correct directories.
Whenever the track classes are imported, the download check is triggered.
Checking whether the track files already exists is still a little hacky.
Someone else should test it out.
Otherwise, all looks good and works on my side with waypoint follow.

hzheng40
hzheng40 approved these changes Jul 10, 2023
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LGTM

@hzheng40 hzheng40 mentioned this pull request Jul 10, 2023
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@luigiberducci luigiberducci mentioned this pull request Jul 10, 2023
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@luigiberducci
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luigiberducci commented Jul 11, 2023 •
edited
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@hzheng40 Shall we pack each track individually so that we can check and eventually download a specific track?
It could be convenient if we don't want to download all of them, easy to check, and easy to extend to new tracks (even if it won't happen so frequently)

@hzheng40
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@luigiberducci That's true. I'll package the tracks separately and move the download into find_track_dir probably?

@hzheng40
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Updated, @luigiberducci. Should we also consider ignoring uppercase letters in the track name?

@luigiberducci
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Ok, looks good to me.

I corrected minor things:

  • fix warning unclosed tmp file,
  • add map to .gitignore,
  • add a test

About uppercase, I don't have strong preferences. I have just kept the convention from f1tenth_racetracks.
However, we should decide if keeping the old tracks (without raceline and centerline) or get rid of them.

@hzheng40 hzheng40 mentioned this pull request Jul 11, 2023
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@hzheng40 hzheng40 merged commit d8a5db6 into v1.0.0 Jul 11, 2023
@hzheng40 hzheng40 mentioned this pull request Jul 11, 2023
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@luigiberducci luigiberducci deleted the dev_track_refactoring branch February 14, 2024 11:29
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@hzheng40 hzheng40 hzheng40 approved these changes

@nandantumu nandantumu Awaiting requested review from nandantumu

@AhmadAmine998 AhmadAmine998 Awaiting requested review from AhmadAmine998

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refactoring of track ingestion
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@luigiberducci @hzheng40