add step condition to verofy

scenarionet/verifier/utils.py

@@ -9,7 +9,7 @@ from metadrive.policy.replay_policy import ReplayEgoCarPolicy
 from metadrive.scenario.utils import get_number_of_scenarios
 
 
-def verify_loading_into_metadrive(dataset_path, result_save_dir=None):
+def verify_loading_into_metadrive(dataset_path, result_save_dir=None, steps_to_run=0):
     scenario_num = get_number_of_scenarios(dataset_path)
     if result_save_dir is not None:
         assert os.path.exists(result_save_dir) and os.path.isdir(
@@ -28,16 +28,19 @@ def verify_loading_into_metadrive(dataset_path, result_save_dir=None):
     try:
         for i in tqdm.tqdm(range(scenario_num)):
             env.reset(force_seed=i)
+            for i in range(steps_to_run):
+                env.step([0, 0])
     except Exception as e:
         file_name = env.engine.data_manager.summary_lookup[i]
         file_path = os.path.join(dataset_path, env.engine.data_manager.mapping[file_name], file_name)
         error_file = {"seed": i, "file_path": file_path, "error": e}
         error_files.append(error_file)
         logger.warning("\n Scenario Error, seed: {}, file_path: {}.\n Error message: {}".format(i, file_path, e))
-        success=False
+        success = False
     finally:
         env.close()
     if result_save_dir is not None:
-        with open(os.path.join(result_save_dir, "error_scenarios_{}.json".format(os.path.basename(dataset_path))), "w+") as f:
+        with open(os.path.join(result_save_dir, "error_scenarios_{}.json".format(os.path.basename(dataset_path))),
+                  "w+") as f:
             json.dump(error_files, f)
     return success, error_files