provide scripts

scenarionet/builder/utils.py

@@ -45,7 +45,7 @@ def combine_multiple_dataset(
             raise FileExistsError("Output path already exists!")
         else:
             shutil.rmtree(output_abs_path)
-    os.mkdir(output_abs_path)
+    os.makedirs(output_abs_path, exist_ok=False)
 
     summaries = {}
     mappings = {}

scenarionet/scripts/combine_dataset_and_run.py

@@ -1,60 +0,0 @@
-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
-
-from scenarionet import SCENARIONET_DATASET_PATH
-from scenarionet.builder.utils import combine_multiple_dataset
-
-if __name__ == '__main__':
-    dataset_paths = [
-        os.path.join(SCENARIONET_DATASET_PATH, "nuscenes"),
-        os.path.join(SCENARIONET_DATASET_PATH, "nuplan"),
-        os.path.join(SCENARIONET_DATASET_PATH, "waymo"),
-        os.path.join(SCENARIONET_DATASET_PATH, "pg")
-    ]
-
-    combine_path = os.path.join(SCENARIONET_DATASET_PATH, "combined_dataset")
-    combine_multiple_dataset(combine_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
-
-    env = ScenarioEnv(
-        {
-            "use_render": True,
-            "agent_policy": ReplayEgoCarPolicy,
-            "manual_control": False,
-            "show_interface": True,
-            "show_logo": False,
-            "show_fps": False,
-            "num_scenarios": get_number_of_scenarios(combine_path),
-            "horizon": 1000,
-            "no_static_vehicles": True,
-            "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": combine_path,
-        }
-    )
-    success = []
-    while True:
-        for seed in [91]:
-            env.reset(force_seed=seed)
-            for t in range(10000):
-                o, r, d, info = env.step([0, 0])
-                assert env.observation_space.contains(o)
-                c_lane = env.vehicle.lane
-                long, lat, = c_lane.local_coordinates(env.vehicle.position)
-                # if env.config["use_render"]:
-                env.render(text={
-                    "seed": env.engine.global_seed + env.config["start_scenario_index"],
-                })
-
-                if d:
-                    if info["arrive_dest"]:
-                        print("seed:{}, success".format(env.engine.global_random_seed))
-                        print(t)
-                    break

scenarionet/scripts/convert_nuplan.py

@@ -2,17 +2,27 @@
 This script aims to convert nuplan scenarios to ScenarioDescription, so that we can load any nuplan scenarios into
 MetaDrive.
 """
+import argparse
 import os
 
 from scenarionet import SCENARIONET_DATASET_PATH
 from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario
 from scenarionet.converter.utils import write_to_directory
 
-if __name__ == "__main__":
-    force_overwrite = True
-    dataset_name = "nuplan"
-    output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
-    version = 'v1.1'
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--dataset_name", "-n", default="nuplan",
+                        help="Dataset name, will be used to generate scenario files")
+    parser.add_argument("--dataset_path", "-d", default=os.path.join(SCENARIONET_DATASET_PATH, "nuplan"),
+                        help="The path of the dataset")
+    parser.add_argument("--version", "-v", default='v1.1', required=True, help="version")
+    parser.add_argument("--overwrite", action="store_true", help="If the dataset_path exists, overwrite it")
+    args = parser.parse_args()
+
+    force_overwrite = args.overwrite
+    dataset_name = args.dataset_name
+    output_path = args.dataset_path
+    version = args.version
 
     data_root = os.path.join(os.getenv("NUPLAN_DATA_ROOT"), "nuplan-v1.1/splits/mini")
     map_root = os.getenv("NUPLAN_MAPS_ROOT")

scenarionet/scripts/convert_nuscenes.py

@@ -2,17 +2,27 @@
 This script aims to convert nuscenes scenarios to ScenarioDescription, so that we can load any nuscenes scenarios into
 MetaDrive.
 """
+import argparse
 import os.path
 
 from scenarionet import SCENARIONET_DATASET_PATH
 from scenarionet.converter.nuscenes.utils import convert_nuscenes_scenario, get_nuscenes_scenarios
 from scenarionet.converter.utils import write_to_directory
 
-if __name__ == "__main__":
-    dataset_name = "nuscenes"
-    output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
-    version = 'v1.0-mini'
-    force_overwrite = True
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--dataset_name", "-n", default="nuscenes",
+                        help="Dataset name, will be used to generate scenario files")
+    parser.add_argument("--dataset_path", "-d", default=os.path.join(SCENARIONET_DATASET_PATH, "nuscenes"),
+                        help="The path of the dataset")
+    parser.add_argument("--version", "-v", default='v1.0-mini', required=True, help="version")
+    parser.add_argument("--overwrite", action="store_true", help="If the dataset_path exists, overwrite it")
+    args = parser.parse_args()
+
+    force_overwrite = args.overwrite
+    dataset_name = args.dataset_name
+    output_path = args.dataset_path
+    version = args.version
 
     dataroot = '/home/shady/data/nuscenes'
     scenarios, nusc = get_nuscenes_scenarios(dataroot, version)

scenarionet/scripts/convert_pg.py

@@ -1,18 +1,28 @@
+# from metadrive.policy.expert_policy import ExpertPolicy
+import argparse
 import os.path
 
 import metadrive
+from metadrive.policy.idm_policy import IDMPolicy
 
 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
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--dataset_name", "-n", default="pg",
+                        help="Dataset name, will be used to generate scenario files")
+    parser.add_argument("--dataset_path", "-d", default=os.path.join(SCENARIONET_DATASET_PATH, "pg"),
+                        help="The path of the dataset")
+    parser.add_argument("--version", "-v", default=metadrive.constants.DATA_VERSION, required=True, help="version")
+    parser.add_argument("--overwrite", action="store_true", help="If the dataset_path exists, overwrite it")
+    args = parser.parse_args()
+
+    force_overwrite = args.overwrite
+    dataset_name = args.dataset_name
+    output_path = args.dataset_path
+    version = args.version
 
     scenario_indices, env = get_pg_scenarios(30, IDMPolicy)
 

scenarionet/scripts/convert_waymo.py

@@ -1,5 +1,7 @@
+import argparse
 import logging
 import os
+
 from scenarionet import SCENARIONET_DATASET_PATH
 from scenarionet.converter.utils import write_to_directory
 from scenarionet.converter.waymo.utils import convert_waymo_scenario, get_waymo_scenarios
@@ -7,10 +9,19 @@ from scenarionet.converter.waymo.utils import convert_waymo_scenario, get_waymo_
 logger = logging.getLogger(__name__)
 
 if __name__ == '__main__':
-    force_overwrite = True
-    dataset_name = "waymo"
-    output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
-    version = 'v1.2'
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--dataset_name", "-n", default="waymo",
+                        help="Dataset name, will be used to generate scenario files")
+    parser.add_argument("--dataset_path", "-d", default=os.path.join(SCENARIONET_DATASET_PATH, "waymo"),
+                        help="The path of the dataset")
+    parser.add_argument("--version", "-v", default='v1.2', required=True, help="version")
+    parser.add_argument("--overwrite", action="store_true", help="If the dataset_path exists, overwrite it")
+    args = parser.parse_args()
+
+    force_overwrite = args.overwrite
+    dataset_name = args.dataset_name
+    output_path = args.dataset_path
+    version = args.version
 
     waymo_data_direction = os.path.join(SCENARIONET_DATASET_PATH, "waymo_origin")
     scenarios = get_waymo_scenarios(waymo_data_direction)

scenarionet/scripts/generate_from_error_file.py

@@ -0,0 +1,12 @@
+import argparse
+
+from scenarionet.verifier.error import ErrorFile
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--file", "-f", required=True, help="The path of the error file")
+    parser.add_argument("--dataset_path", "-d", required=True, help="The path of the generated dataset")
+    parser.add_argument("--overwrite", action="store_true", help="If the dataset_path exists, overwrite it")
+    parser.add_argument("--broken", action="store_true", help="Generate dataset containing only broken files")
+    args = parser.parse_args()
+    ErrorFile.generate_dataset(args.file, args.dataset_path, args.overwrite, args.broken)

scenarionet/scripts/run_simulation.py

@@ -0,0 +1,52 @@
+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 not 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

scenarionet/tests/test_generate_from_error_file.py

@@ -2,6 +2,8 @@ import copy
 import os
 import os.path
 
+from metadrive.scenario.scenario_description import ScenarioDescription as SD
+
 from scenarionet import SCENARIONET_PACKAGE_PATH
 from scenarionet.builder.utils import combine_multiple_dataset
 from scenarionet.common_utils import read_dataset_summary, read_scenario
@@ -44,15 +46,17 @@ def test_combine_multiple_dataset():
     assert recursive_equal(read_fail_summary, fail_summary)
 
     # assert pass+fail = origin
-    all_summaries = copy.deep(read_pass_summary)
+    all_summaries = copy.deepcopy(read_pass_summary)
     all_summaries.update(fail_summary)
     assert recursive_equal(all_summaries, summary)
 
     # test read
     for scenario in read_pass_summary:
-        read_scenario(pass_dataset, read_pass_mapping, scenario)
-    for scenario in read_pass_summary:
-        read_scenario(fail_dataset, read_fail_mapping, scenario)
+        sd = read_scenario(pass_dataset, read_pass_mapping, scenario)
+        SD.sanity_check(sd)
+    for scenario in read_fail_summary:
+        sd = read_scenario(fail_dataset, read_fail_mapping, scenario)
+        SD.sanity_check(sd)
 
 
 if __name__ == '__main__':

scenarionet/verifier/error.py

@@ -1,4 +1,5 @@
 import json
+import shutil
 import logging
 import os
 from typing import List
@@ -64,10 +65,13 @@ class ErrorFile:
         """
         # TODO Add test!
         new_dataset_path = os.path.abspath(new_dataset_path)
-        if os.path.exists(new_dataset_path) and not force_overwrite:
-            raise ValueError("Directory: {} already exists! "
+        if os.path.exists(new_dataset_path):
+            if force_overwrite:
+                shutil.rmtree(new_dataset_path)
+            else:
+                raise ValueError("Directory: {} already exists! "
                              "Set force_overwrite=True to overwrite".format(new_dataset_path))
-        os.makedirs(new_dataset_path, exist_ok=True)
+        os.makedirs(new_dataset_path, exist_ok=False)
 
         with open(error_file_path, "r+") as f:
             error_file = json.load(f)