Simulator: add reset hotkey (#29995)

add sim reset

tools/sim/bridge/carla.py

@@ -110,6 +110,9 @@ class CarlaWorld(World):
   def tick(self):
     self.world.tick()
 
+  def reset(self):
+    pass
+
 
 class CarlaBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5

tools/sim/bridge/common.py

@@ -127,6 +127,8 @@ class SimulatorBridge(ABC):
             self.simulator_state.cruise_button = CruiseButtons.MAIN
         elif m[0] == "ignition":
           self.simulator_state.ignition = not self.simulator_state.ignition
+        elif m[0] == "reset":
+          self.world.reset()
         elif m[0] == "quit":
           break
 

tools/sim/bridge/metadrive.py

@@ -81,8 +81,11 @@ class MetaDriveWorld(World):
     obs, _, terminated, _, info = self.env.step(self.vc)
 
     if terminated:
-      self.env.reset()
-      self.reset_time = time.monotonic()
+      self.reset()
+
+  def reset(self):
+    self.env.reset()
+    self.reset_time = time.monotonic()
 
   def close(self):
     pass

tools/sim/lib/common.py

@@ -83,4 +83,8 @@ class World(ABC):
 
   @abstractmethod
   def close(self):
+    pass
+
+  @abstractmethod
+  def reset(self):
     pass

tools/sim/lib/keyboard_ctrl.py

@@ -55,6 +55,8 @@ def keyboard_poll_thread(q: 'Queue[str]'):
       q.put("steer_%f" % -0.15)
     elif c == 'i':
       q.put("ignition")
+    elif c == 'r':
+      q.put("reset")
     elif c == 'q':
       q.put("quit")
       break