Fix bug for generating dataset (#2)

* update parameters for scripts * update write function * modify waymo script * use exist ok instead of overwrite * remove TODO * rename to comvine_dataset * use exist_ok and force_overwrite together * format * test * creat env for each thread * restore * fix bug * fix pg bug * fix * fix bug * add assert * don't return done info * to dict * add test * only compare sdc * no store mao * release memory * add start index to argumen * test * format some settings/flags * add tmp path * add tmp dir * test all scripts * suppress warning * suppress warning * format * test memory leak * fix memory leak * remove useless functions * imap * thread-1 process for avoiding memory leak * add list() * rename * verify existence * verify completeness * test * add test * add default value * add limit * use script * add anotation * test script * fix bug * fix bug * add author4 * add overwrite * fix bug * fix * combine overwrite * fix bug * gpu007 * add result save dir * adjust sequence * fix test bug * disable bash scri[t * add episode length limit * move scripts to root dir * format * fix test
2023-05-13 15:15:31 +01:00
parent 944c7f3707
commit 37d4e72db5
35 changed files with 592 additions and 258 deletions
--- a/scenarionet/run_simulation.py
+++ b/scenarionet/run_simulation.py
@@ -0,0 +1,52 @@
+import pkg_resources  # for suppress warning
+import argparse
+import os
+from metadrive.envs.scenario_env import ScenarioEnv
+from metadrive.policy.replay_policy import ReplayEgoCarPolicy
+from metadrive.scenario.utils import get_number_of_scenarios
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--dataset_path", "-d", required=True, help="The path of the dataset")
+    parser.add_argument("--render", action="store_true", help="Enable 3D rendering")
+    parser.add_argument("--scenario_index", default=None, type=int, help="Specifying a scenario to run")
+    args = parser.parse_args()
+
+    dataset_path = os.path.abspath(args.dataset_path)
+    num_scenario = get_number_of_scenarios(dataset_path)
+    if args.scenario_index is not None:
+        assert args.scenario_index < num_scenario, \
+            "The specified scenario index exceeds the scenario range: {}!".format(num_scenario)
+
+    env = ScenarioEnv(
+        {
+            "use_render": args.render,
+            "agent_policy": ReplayEgoCarPolicy,
+            "manual_control": False,
+            "show_interface": True,
+            "show_logo": False,
+            "show_fps": False,
+            "num_scenarios": num_scenario,
+            "horizon": 1000,
+            "vehicle_config": dict(
+                show_navi_mark=False,
+                no_wheel_friction=True,
+                lidar=dict(num_lasers=120, distance=50, num_others=4),
+                lane_line_detector=dict(num_lasers=12, distance=50),
+                side_detector=dict(num_lasers=160, distance=50)
+            ),
+            "data_directory": dataset_path,
+        }
+    )
+    for seed in range(num_scenario if args.scenario_index is not None else 1000000):
+        env.reset(force_seed=seed if args.scenario_index is None else args.scenario_index)
+        for t in range(10000):
+            o, r, d, info = env.step([0, 0])
+            if env.config["use_render"]:
+                env.render(text={
+                    "seed": env.engine.global_seed + env.config["start_scenario_index"],
+                })
+
+            if d and info["arrive_dest"]:
+                print("scenario:{}, success".format(env.engine.global_random_seed))
+                break