From 70a649f88ba1159b85b855b6a3a0c0e9294c9c75 Mon Sep 17 00:00:00 2001 From: Michel Le Bihan Date: Mon, 11 Mar 2024 18:27:32 +0100 Subject: [PATCH] simulator: Correctly handle arrival at destination (#31807) old-commit-hash: 8a038845003d1a68896c71ea2c2c35455b27b6a0 --- tools/sim/bridge/metadrive/metadrive_bridge.py | 1 + tools/sim/bridge/metadrive/metadrive_process.py | 8 +++++--- tools/sim/scenarios/metadrive/stay_in_lane.py | 1 + 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index c2ea92798a..5c91238c55 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -75,6 +75,7 @@ class MetaDriveBridge(SimulatorBridge): on_continuous_line_done=False, crash_vehicle_done=False, crash_object_done=False, + arrive_dest_done=False, traffic_density=0.0, # traffic is incredibly expensive map_config=create_map(), decision_repeat=1, diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 0e659c7a2d..79eefcd545 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -22,7 +22,7 @@ C3_HPR = Vec3(0, 0,0) metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"]) metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"]) -def apply_metadrive_patches(): +def apply_metadrive_patches(arrive_dest_done=True): # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in def add_image_sensor_patched(self, name: str, cls, args): if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]: @@ -44,12 +44,14 @@ def apply_metadrive_patches(): def arrive_destination_patch(self, *args, **kwargs): return False - MetaDriveEnv._is_arrive_destination = arrive_destination_patch + if not arrive_dest_done: + MetaDriveEnv._is_arrive_destination = arrive_destination_patch def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, exit_event): - apply_metadrive_patches() + arrive_dest_done = config.pop("arrive_dest_done", True) + apply_metadrive_patches(arrive_dest_done) road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) if dual_camera: diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py index 17d3d28a2d..683ce55162 100755 --- a/tools/sim/scenarios/metadrive/stay_in_lane.py +++ b/tools/sim/scenarios/metadrive/stay_in_lane.py @@ -65,6 +65,7 @@ class MetaDriveBridge(SimulatorBridge): on_continuous_line_done=True, crash_vehicle_done=True, crash_object_done=True, + arrive_dest_done=True, traffic_density=0.0, map_config=create_map(), map_region_size=2048,