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Metadrive: fix map config on main (#30983) 

* Fix map api too

* dont render
This commit is contained in:
Justin Newberry 2024-01-12 17:42:40 -05:00 committed by GitHub
parent 3d73512c07
commit 28e5d1bb49
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 19 additions and 15 deletions
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34
tools/sim/bridge/metadrive/metadrive_bridge.py
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@ -60,6 +60,24 @@ def curve_block(length, angle=45, direction=0):
"dir": direction
}
def create_map(track_size=60):
return dict(
type=MapGenerateMethod.PG_MAP_FILE,
lane_num=2,
lane_width=3.5,
config=[
None,
straight_block(track_size),
curve_block(track_size*2, 90),
straight_block(track_size),
curve_block(track_size*2, 90),
straight_block(track_size),
curve_block(track_size*2, 90),
straight_block(track_size),
curve_block(track_size*2, 90),
]
)
class MetaDriveBridge(SimulatorBridge):
TICKS_PER_FRAME = 5
@ -82,7 +100,6 @@ class MetaDriveBridge(SimulatorBridge):
vehicle_config=dict(
enable_reverse=False,
image_source="rgb_road",
spawn_longitude=15
),
sensors=sensors,
image_on_cuda=_cuda_enable,
@ -93,20 +110,7 @@ class MetaDriveBridge(SimulatorBridge):
crash_vehicle_done=False,
crash_object_done=False,
traffic_density=0.0, # traffic is incredibly expensive
map_config=dict(
type=MapGenerateMethod.PG_MAP_FILE,
config=[
None,
straight_block(120),
curve_block(240, 90),
straight_block(120),
curve_block(240, 90),
straight_block(120),
curve_block(240, 90),
straight_block(120),
curve_block(240, 90),
]
),
map_config=create_map(),
decision_repeat=1,
physics_world_step_size=self.TICKS_PER_FRAME/100,
preload_models=False