Merge pull request #20 from inverted-ai/develop

Develop
inverted-ai · Sep 30, 2022 · 4652fa0 · 4652fa0
2 parents c85581f + 7eaf513
commit 4652fa0
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Showing 5 changed files with 22 additions and 78 deletions.
diff --git a/examples/Demo_Drive.py b/examples/Demo_Drive.py
@@ -38,7 +38,6 @@
         recurrent_states=response["recurrent_states"],
         get_birdviews=True,
         location=args.location,
-        obs_length=1,
         steps=1,
     )
 

diff --git a/examples/Drive-Demo.ipynb b/examples/Drive-Demo.ipynb
@@ -10,7 +10,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "id": "911445d4-8b61-49a1-9620-d1f3eb0c4199",
    "metadata": {},
    "outputs": [],
@@ -28,61 +28,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "id": "069cf9cb-30eb-4378-b4f9-9cb7d9038620",
    "metadata": {},
-   "outputs": [
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-       "                    Figure\n",
-       "                </div>\n",
-       "                <img src='data:image/png;base64,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' width=500.0/>\n",
-       "            </div>\n",
-       "        "
-      ],
-      "text/plain": [
-       "Canvas(toolbar=Toolbar(toolitems=[('Home', 'Reset original view', 'home', 'home'), ('Back', 'Back to previous …"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "iai.add_apikey(\"\")\n",
     "location=\"CARLA:Town03:Roundabout\"\n",
-    "simulation_length = 30\n",
+    "simulation_length = 100\n",
     "renderer = Jupyter_Render()\n",
     "display(renderer)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 6,
    "id": "94506da0-9a15-4dc0-9d57-5ac30bc36d72",
    "metadata": {},
    "outputs": [],
@@ -103,8 +63,8 @@
     "        recurrent_states=response[\"recurrent_states\"],\n",
     "        get_birdviews=True,\n",
     "        location=location,\n",
-    "        obs_length=1,\n",
     "        steps=1,\n",
+    "        exclude_ego_agent=1\n",
     "    )\n",
     "    birdview = cv2.imdecode(np.array(response[\"bird_view\"], dtype=np.uint8), cv2.IMREAD_COLOR)\n",
     "    renderer.add_frame(birdview)"
@@ -117,6 +77,14 @@
    "metadata": {},
    "outputs": [],
    "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "43110bde",
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {
@@ -135,7 +103,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.10"
+   "version": "3.8.0"
   }
  },
  "nbformat": 4,

diff --git a/invertedai/drive.py b/invertedai/drive.py
@@ -15,7 +15,7 @@
 @dataclass
 class Config:
     api_key: str = ""
-    location: str = "Town03_Roundabout"
+    location: str = "CARLA:Town03:Roundabout"
     agent_count: int = 100
     batch_size: int = 1
     obs_length: int = 1
@@ -32,7 +32,6 @@ def initialize(
     batch_size=1,
     min_speed=1,
     max_speed=5,
-    fix_carla_coord=False,
 ) -> dict:
     start = time.time()
     timeout = TIMEOUT
@@ -45,7 +44,6 @@ def initialize(
                 batch_size=batch_size,
                 min_speed=np.ceil(min_speed / 3.6).astype(int),
                 max_speed=np.ceil(max_speed / 3.6).astype(int),
-                fix_carla_coord=fix_carla_coord,
             )
             response = {
                 "states": initial_states["initial_condition"]["agent_states"],
@@ -63,21 +61,16 @@ def drive(
     states: dict,
     agent_attributes: dict,
     recurrent_states: Optional[InputDataType] = None,
-    present_masks: Optional[InputDataType] = None,
     get_birdviews: bool = False,
     location="CARLA:Town03:Roundabout",
-    obs_length: int = 1,
     steps: int = 1,
-    batch_size: int = 1,
-    fix_carla_coord: bool = False,
     get_infractions: bool = False,
+    exclude_ego_agent: bool = True
 ) -> dict:
     def _validate(input_dict: dict, input_name: str):
         input_data = input_dict[input_name]
         if isinstance(input_data, list):
             input_data = torch.Tensor(input_data)
-        if input_data.shape[0] != batch_size:
-            raise Exception(f"{input_name} has the wrong batch size (dim 0)")
         if input_data.shape[1] != agent_count:
             raise Exception(f"{input_name} has the wrong agent counts (dim 1)")
         if len(input_data.shape) > 2:
@@ -88,8 +81,6 @@ def _validate(input_dict: dict, input_name: str):
     def _validate_recurrent_states(input_data: InputDataType):
         if isinstance(input_data, list):
             input_data = torch.Tensor(input_data)
-        if input_data.shape[0] != batch_size:
-            raise Exception("Recurrent states has the wrong batch size (dim 0)")
         if input_data.shape[1] != agent_count:
             raise Exception("Recurrent states has the wrong agent counts (dim 2)")
         if input_data.shape[2] != 2:
@@ -108,11 +99,6 @@ def _validate_and_tolist(input_data: dict, input_name: str):
         return _tolist(_validate(input_data, input_name))
 
     agent_count = len(states[0])
-    present_masks = (
-        _validate_and_tolist(present_masks, "present_masks")
-        if present_masks is not None
-        else None
-    )  # BxA
     recurrent_states = (
         _tolist(_validate_recurrent_states(recurrent_states))
         if recurrent_states is not None
@@ -127,17 +113,10 @@ def _validate_and_tolist(input_data: dict, input_name: str):
         ),
         recurrent_states=recurrent_states,
         # Expand from BxA to BxAxT_total for the API interface
-        present_masks=[
-            [[a for _ in range(obs_length + steps)] for a in b]
-            for b in present_masks
-        ]
-        if present_masks
-        else None,
-        batch_size=batch_size,
         steps=steps,
         get_birdviews=get_birdviews,
-        fix_carla_coord=fix_carla_coord,
         get_infractions=get_infractions,
+        exclude_ego_agent=exclude_ego_agent
     )
 
     start = time.time()

diff --git a/invertedai/utils.py b/invertedai/utils.py
@@ -50,15 +50,13 @@ def initialize(
         batch_size=1,
         min_speed=1,
         max_speed=3,
-        fix_carla_coord=False,
     ):
         params = {
             "location": location,
             "num_agents_to_spawn": agent_count,
             "num_samples": batch_size,
-            "spawn_min_speed": min_speed,
-            "spawn_max_speed": max_speed,
-            "fix_carla_coord": fix_carla_coord,
+            # "spawn_min_speed": min_speed,
+            # "spawn_max_speed": max_speed,
         }
 
         response = self._request(
@@ -106,7 +104,7 @@ def _get_base_url(self) -> str:
         The method path should be appended to the base_url
         """
         if not iai.dev:
-            base_url = "https://api.inverted.ai/drive"
+            base_url = "https://api.inverted.ai/v0/aws/m1"
         else:
             base_url = iai.dev_url
         # TODO: Add endpoint option and versioning to base_url

diff --git a/pyproject.toml b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "invertedai"
-version = "0.0.2"
+version = "0.0.2post1"
 description = "Client SDK for InvertedAI"
 authors = ["Inverted AI <info@inverted.ai>"]
 readme = "README.md"