e9d816ddd8
* reactive traffic example * structure * structure * waymo example * rename and add doc * finish example * example * start from 2
61 lines
2.0 KiB
Python
61 lines
2.0 KiB
Python
from metadrive.envs.scenario_env import ScenarioEnv
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if __name__ == "__main__":
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env = ScenarioEnv(
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{
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"use_render": True,
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# "agent_policy": ReplayEgoCarPolicy,
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"manual_control": False,
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"show_interface": False,
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"show_logo": False,
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"show_fps": False,
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"show_mouse": False,
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# "debug": True,
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# "debug_static_world": True,
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# "no_traffic": True,
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# "no_light": True,
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# "debug":True,
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# "no_traffic":True,
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"start_scenario_index": 1,
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# "start_scenario_index": 1000,
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"num_scenarios": 1,
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# "force_reuse_object_name": True,
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# "data_directory": "/home/shady/Downloads/test_processed",
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"horizon": 1000,
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"render_pipeline": True,
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# "reactive_traffic": True,
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"no_static_vehicles": False,
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"force_render_fps": 10,
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"show_policy_mark": True,
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# "show_coordinates": True,
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"vehicle_config": dict(
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show_navi_mark=False,
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no_wheel_friction=False,
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lidar=dict(num_lasers=120, distance=50, num_others=4),
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lane_line_detector=dict(num_lasers=12, distance=50),
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side_detector=dict(num_lasers=160, distance=50)
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),
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}
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)
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success = []
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while True:
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env.reset(seed=1)
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env.stop()
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env.main_camera.chase_camera_height = 50
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for i in range(250):
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if i < 50:
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action = [0, -1]
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elif i < 70:
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action = [0.55, 0.5]
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elif i < 80:
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action = [-0.5, 0.5]
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# elif i < 100:
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# action = [0, -0.4]
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elif i < 110:
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action = [0, -0.1]
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elif i < 130:
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action = [0.3, 0.5]
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else:
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action = [0, -0.5]
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o, r, tm, tc, info = env.step(action)
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