PGMap: customizable starting point (#667)

* Ability to configure pg map starting position Add this to global config Run format.sh * Remove constant from base_map
metadriverse · Mar 1, 2024 · 27f5e71 · 27f5e71
1 parent 65d17aa
commit 27f5e71
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Showing 3 changed files with 13 additions and 1 deletion.
diff --git a/metadrive/component/map/pg_map.py b/metadrive/component/map/pg_map.py
@@ -87,6 +87,7 @@ def _config_generate(self, blocks_config: List, parent_node_path: NodePath, phys
             render_root_np=parent_node_path,
             physics_world=physics_world,
             length=self._config.get("exit_length", 50),
+            start_point=self._config.get("start_position", [0, 0]),
             ignore_intersection_checking=True
         )
         self.blocks.append(last_block)

diff --git a/metadrive/component/pgblock/first_block.py b/metadrive/component/pgblock/first_block.py
@@ -1,5 +1,8 @@
+from typing import Sequence, Union
 from panda3d.core import NodePath
 
+import numpy as np
+
 from metadrive.component.lane.straight_lane import StraightLane
 from metadrive.component.pg_space import ParameterSpace
 from metadrive.component.pgblock.create_pg_block_utils import CreateRoadFrom, CreateAdverseRoad, ExtendStraightLane
@@ -30,6 +33,7 @@ def __init__(
         render_root_np: NodePath,
         physics_world: PhysicsWorld,
         length: float = 30,
+        start_point: Union[np.ndarray, Sequence[float]] = [0, 0],
         ignore_intersection_checking=False,
         remove_negative_lanes=False,
         side_lane_line_type=None,
@@ -48,9 +52,15 @@ def __init__(
         )
         if length < self.ENTRANCE_LENGTH:
             print("Warning: first block length is two small", length, "<", self.ENTRANCE_LENGTH)
+        if not isinstance(start_point, np.ndarray):
+            start_point = np.array(start_point)
+
         self._block_objects = []
         basic_lane = StraightLane(
-            [0, 0], [self.ENTRANCE_LENGTH, 0], line_types=(PGLineType.BROKEN, PGLineType.SIDE), width=lane_width
+            start_point,
+            start_point + [self.ENTRANCE_LENGTH, 0],
+            line_types=(PGLineType.BROKEN, PGLineType.SIDE),
+            width=lane_width
         )
         ego_v_spawn_road = Road(self.NODE_1, self.NODE_2)
         CreateRoadFrom(

diff --git a/metadrive/envs/metadrive_env.py b/metadrive/envs/metadrive_env.py
@@ -29,6 +29,7 @@
         BaseMap.LANE_WIDTH: 3.5,
         BaseMap.LANE_NUM: 3,
         "exit_length": 50,
+        "start_position": [0, 0],
     },
     store_map=True,