add vehicle box and inverse cyclist length/width

metadrive/component/traffic_participants/cyclist.py

@@ -140,12 +140,14 @@ def set_velocity(self, direction, value=None, in_local_frame=False):
 
     @property
     def WIDTH(self):
-        return self.config["width"]
+        # return self.config["width"]
+        return self.config["length"]
 
     @property
     def HEIGHT(self):
         return self.config["height"]
 
     @property
     def LENGTH(self):
-        return self.config["length"]
+        # return self.config["length"]
+        return self.config["width"]

metadrive/component/vehicle/vehicle_type.py

@@ -322,17 +322,39 @@ def _add_visualization(self):
             # Draw the bottom of the car first
             line_seg = LineSegs("bounding_box_contour1")
             zoffset = car_model.getZ()
-            line_seg.setThickness(5)
+            line_seg.setThickness(2)
             line_color = [1.0, 0.0, 0.0]
             out_offset = 0.02
             w = self.WIDTH / 2 + out_offset
             l = self.LENGTH / 2 + out_offset
             h = self.HEIGHT / 2 + out_offset
-            line_seg.moveTo(-w, -l, -h + zoffset)
+            line_seg.moveTo(w, l, h + zoffset)
+            line_seg.drawTo(-w, l, h + zoffset)
+            line_seg.drawTo(-w, l, -h + zoffset)
+            line_seg.drawTo(w, l, -h + zoffset)
+            line_seg.drawTo(w, l, h + zoffset)
+            line_seg.drawTo(-w, l, -h + zoffset)
+            line_seg.moveTo(-w, l, h + zoffset)
+            line_seg.drawTo(w, l, -h + zoffset)
+
+            line_seg.moveTo(w, -l, h + zoffset)
+            line_seg.drawTo(-w, -l, h + zoffset)
+            line_seg.drawTo(-w, -l, -h + zoffset)
             line_seg.drawTo(w, -l, -h + zoffset)
             line_seg.drawTo(w, -l, h + zoffset)
+            line_seg.moveTo(-w, -l, 0 + zoffset)
+            line_seg.drawTo(w, -l, 0 + zoffset)
+            line_seg.moveTo(0, -l, h + zoffset)
+            line_seg.drawTo(0, -l, -h + zoffset)
+
+            line_seg.moveTo(w, l, h + zoffset)
+            line_seg.drawTo(w, -l, h + zoffset)
+            line_seg.moveTo(-w, l, h + zoffset)
             line_seg.drawTo(-w, -l, h + zoffset)
+            line_seg.moveTo(-w, l, -h + zoffset)
             line_seg.drawTo(-w, -l, -h + zoffset)
+            line_seg.moveTo(w, l, -h + zoffset)
+            line_seg.drawTo(w, -l, -h + zoffset)
             line_np = NodePath(line_seg.create(True))
             line_material = Material()
             line_material.setBaseColor(LVecBase4(*line_color[:3], 1))

try.py

@@ -0,0 +1,83 @@
+# visualization
+# from IPython.display import Image as IImage
+import pygame
+import numpy as np
+from PIL import Image
+
+def make_GIF(frames, name="demo.gif"):
+    print("Generate gif...")
+    imgs = [frame for frame in frames]
+    imgs = [Image.fromarray(img) for img in imgs]
+    imgs[0].save(name, save_all=True, append_images=imgs[1:], duration=50, loop=0)
+
+    #@title Make some configurations and import some modules
+from metadrive.engine.engine_utils import close_engine
+close_engine()
+from metadrive.pull_asset import pull_asset
+pull_asset(False)
+# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab
+
+from metadrive.engine.asset_loader import AssetLoader
+from metadrive.policy.replay_policy import ReplayEgoCarPolicy
+from metadrive.policy.idm_policy import IDMPolicy
+from metadrive.envs.scenario_env import ScenarioEnv
+from metadrive.envs.metadrive_env import MetaDriveEnv
+import os
+
+threeD_render=False # turn on this to enable 3D render. It only works when you have a screen and not running on Colab.
+threeD_render=threeD_render and not RunningInCOLAB
+os.environ["SDL_VIDEODRIVER"] = "dummy" # Hide the pygame window
+waymo_data =  AssetLoader.file_path(AssetLoader.asset_path, "waymo", unix_style=False) # Use the built-in datasets with simulator
+nuscenes_data =  AssetLoader.file_path(AssetLoader.asset_path, "nuscenes", unix_style=False) # Use the built-in datasets with simulator
+
+import pygame
+from metadrive.component.sensors.semantic_camera import SemanticCamera
+from metadrive.component.sensors.depth_camera import DepthCamera
+from metadrive.component.sensors.rgb_camera import RGBCamera
+from metadrive.engine.asset_loader import AssetLoader
+
+
+sensor_size = (84, 60) if os.getenv('TEST_DOC') else (200, 100)
+from metadrive.component.sensors.rgb_camera import RGBCamera
+# env = ScenarioEnv(
+#     {
+#         # "manual_control": False,
+#         # "reactive_traffic": False,
+#         # "use_render": threeD_render,
+#         "agent_policy": ReplayEgoCarPolicy,
+#         "data_directory": waymo_data,
+#         "num_scenarios": 1,
+#         "image_observation":True, 
+#         "vehicle_config":dict(image_source="rgb_camera"),
+#         "sensors":{"rgb_camera": (RGBCamera, *sensor_size)},
+#         "stack_size":3,
+#     }
+# )
+
+cfg=dict(image_observation=True, 
+         vehicle_config=dict(image_source="rgb_camera"),
+         sensors={"rgb_camera": (RGBCamera, *sensor_size)},
+         stack_size=3,
+         agent_policy=IDMPolicy # drive with IDM policy
+        )
+
+env=MetaDriveEnv(cfg)
+
+# @title Run Simulation
+
+env.reset(seed=0)
+frames = []
+for i in range(1, 100000):
+    o, r, tm, tc, info = env.step([1.0, 0.])
+    frames.append(env.render(mode="topdown",film_size=(1200, 1200)))
+    # ret=o["image"][..., -1]*255 # [0., 1.] to [0, 255]
+    # ret=ret.astype(np.uint8)
+    # frames.append(ret[..., ::-1])
+    print(o)
+    if tm or tc:
+        break
+env.close()
+
+make_GIF(frames)
+# visualization
+Image(open("demo.gif", 'rb').read())