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add pg converter

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This commit is contained in:
QuanyiLi
2023-05-06 22:35:40 +01:00
parent 49537ffc1e
commit 05c6844016
5 changed files with 56 additions and 3 deletions
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4
scenarionet/examples/convert_nuplan.py
View File

@@ -16,8 +16,8 @@ if __name__ == "__main__":
data_root = os.path.join(os.getenv("NUPLAN_DATA_ROOT"), "nuplan-v1.1/splits/mini")
map_root = os.getenv("NUPLAN_MAPS_ROOT")
# scenarios = get_nuplan_scenarios(data_root, map_root, logs=["2021.07.16.20.45.29_veh-35_01095_01486"])
scenarios = get_nuplan_scenarios(data_root, map_root)
scenarios = get_nuplan_scenarios(data_root, map_root, logs=["2021.07.16.20.45.29_veh-35_01095_01486"])
# scenarios = get_nuplan_scenarios(data_root, map_root)
write_to_directory(
convert_func=convert_nuplan_scenario,

27
scenarionet/examples/convert_pg.py Normal file
View File

@@ -0,0 +1,27 @@
import os.path
import metadrive
from scenarionet import SCENARIONET_DATASET_PATH
from scenarionet.converter.pg.utils import get_pg_scenarios, convert_pg_scenario
from scenarionet.converter.utils import write_to_directory
from metadrive.policy.idm_policy import IDMPolicy
# from metadrive.policy.expert_policy import ExpertPolicy
if __name__ == '__main__':
dataset_name = "pg"
output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
version = metadrive.constants.DATA_VERSION
force_overwrite = True
scenario_indices, env = get_pg_scenarios(30, IDMPolicy)
write_to_directory(
convert_func=convert_pg_scenario,
scenarios=scenario_indices,
output_path=output_path,
dataset_version=version,
dataset_name=dataset_name,
force_overwrite=force_overwrite,
env=env
)