diff --git a/experiments/test_notebook.ipynb b/experiments/test_notebook.ipynb
index 33cfffacf3c5efe3c7a2472c4d336291b7d28ba9..79c037183cbdeb4de5aaf458080b6e84f1e77b8f 100644
--- a/experiments/test_notebook.ipynb
+++ b/experiments/test_notebook.ipynb
@@ -26,7 +26,7 @@
"name": "stderr",
"output_type": "stream",
"text": [
- "/tmp/ipykernel_5670/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
+ "/tmp/ipykernel_6532/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
" from IPython.core.display import display, HTML\n"
]
}
@@ -60,8 +60,287 @@
},
{
"data": {
- "application/javascript": "(function(root) {\n function now() {\n return new Date();\n }\n\n const force = true;\n\n if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n root._bokeh_onload_callbacks = [];\n root._bokeh_is_loading = undefined;\n }\n\nconst JS_MIME_TYPE = 'application/javascript';\n const HTML_MIME_TYPE = 'text/html';\n const EXEC_MIME_TYPE = 'application/vnd.bokehjs_exec.v0+json';\n const CLASS_NAME = 'output_bokeh rendered_html';\n\n /**\n * Render data to the DOM node\n */\n function render(props, node) {\n const script = document.createElement(\"script\");\n node.appendChild(script);\n }\n\n /**\n * Handle when an output is cleared or removed\n */\n function handleClearOutput(event, handle) {\n const cell = handle.cell;\n\n const id = cell.output_area._bokeh_element_id;\n const server_id = cell.output_area._bokeh_server_id;\n // Clean up Bokeh references\n if (id != null && id in Bokeh.index) {\n Bokeh.index[id].model.document.clear();\n delete Bokeh.index[id];\n }\n\n if (server_id !== undefined) {\n // Clean up Bokeh references\n const cmd_clean = \"from bokeh.io.state import curstate; print(curstate().uuid_to_server['\" + server_id + \"'].get_sessions()[0].document.roots[0]._id)\";\n cell.notebook.kernel.execute(cmd_clean, {\n iopub: {\n output: function(msg) {\n const id = msg.content.text.trim();\n if (id in Bokeh.index) {\n Bokeh.index[id].model.document.clear();\n delete Bokeh.index[id];\n }\n }\n }\n });\n // Destroy server and session\n const cmd_destroy = \"import bokeh.io.notebook as ion; ion.destroy_server('\" + server_id + \"')\";\n cell.notebook.kernel.execute(cmd_destroy);\n }\n }\n\n /**\n * Handle when a new output is added\n */\n function handleAddOutput(event, handle) {\n const output_area = handle.output_area;\n const output = handle.output;\n\n // limit handleAddOutput to display_data with EXEC_MIME_TYPE content only\n if ((output.output_type != \"display_data\") || (!Object.prototype.hasOwnProperty.call(output.data, EXEC_MIME_TYPE))) {\n return\n }\n\n const toinsert = output_area.element.find(\".\" + CLASS_NAME.split(' ')[0]);\n\n if (output.metadata[EXEC_MIME_TYPE][\"id\"] !== undefined) {\n toinsert[toinsert.length - 1].firstChild.textContent = output.data[JS_MIME_TYPE];\n // store reference to embed id on output_area\n output_area._bokeh_element_id = output.metadata[EXEC_MIME_TYPE][\"id\"];\n }\n if (output.metadata[EXEC_MIME_TYPE][\"server_id\"] !== undefined) {\n const bk_div = document.createElement(\"div\");\n bk_div.innerHTML = output.data[HTML_MIME_TYPE];\n const script_attrs = bk_div.children[0].attributes;\n for (let i = 0; i < script_attrs.length; i++) {\n toinsert[toinsert.length - 1].firstChild.setAttribute(script_attrs[i].name, script_attrs[i].value);\n toinsert[toinsert.length - 1].firstChild.textContent = bk_div.children[0].textContent\n }\n // store reference to server id on output_area\n output_area._bokeh_server_id = output.metadata[EXEC_MIME_TYPE][\"server_id\"];\n }\n }\n\n function register_renderer(events, OutputArea) {\n\n function append_mime(data, metadata, element) {\n // create a DOM node to render to\n const toinsert = this.create_output_subarea(\n metadata,\n CLASS_NAME,\n EXEC_MIME_TYPE\n );\n this.keyboard_manager.register_events(toinsert);\n // Render to node\n const props = {data: data, metadata: metadata[EXEC_MIME_TYPE]};\n render(props, toinsert[toinsert.length - 1]);\n element.append(toinsert);\n return toinsert\n }\n\n /* Handle when an output is cleared or removed */\n events.on('clear_output.CodeCell', handleClearOutput);\n events.on('delete.Cell', handleClearOutput);\n\n /* Handle when a new output is added */\n events.on('output_added.OutputArea', handleAddOutput);\n\n /**\n * Register the mime type and append_mime function with output_area\n */\n OutputArea.prototype.register_mime_type(EXEC_MIME_TYPE, append_mime, {\n /* Is output safe? */\n safe: true,\n /* Index of renderer in `output_area.display_order` */\n index: 0\n });\n }\n\n // register the mime type if in Jupyter Notebook environment and previously unregistered\n if (root.Jupyter !== undefined) {\n const events = require('base/js/events');\n const OutputArea = require('notebook/js/outputarea').OutputArea;\n\n if (OutputArea.prototype.mime_types().indexOf(EXEC_MIME_TYPE) == -1) {\n register_renderer(events, OutputArea);\n }\n }\n if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n root._bokeh_timeout = Date.now() + 5000;\n root._bokeh_failed_load = false;\n }\n\n const NB_LOAD_WARNING = {'data': {'text/html':\n \"<div style='background-color: #fdd'>\\n\"+\n \"<p>\\n\"+\n \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n \"</p>\\n\"+\n \"<ul>\\n\"+\n \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n \"<li>use INLINE resources instead, as so:</li>\\n\"+\n \"</ul>\\n\"+\n \"<code>\\n\"+\n \"from bokeh.resources import INLINE\\n\"+\n \"output_notebook(resources=INLINE)\\n\"+\n \"</code>\\n\"+\n \"</div>\"}};\n\n function display_loaded() {\n const el = document.getElementById(\"1001\");\n if (el != null) {\n el.textContent = \"BokehJS is loading...\";\n }\n if (root.Bokeh !== undefined) {\n if (el != null) {\n el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n }\n } else if (Date.now() < root._bokeh_timeout) {\n setTimeout(display_loaded, 100)\n }\n }\n\n function run_callbacks() {\n try {\n root._bokeh_onload_callbacks.forEach(function(callback) {\n if (callback != null)\n callback();\n });\n } finally {\n delete root._bokeh_onload_callbacks\n }\n console.debug(\"Bokeh: all callbacks have finished\");\n }\n\n function load_libs(css_urls, js_urls, callback) {\n if (css_urls == null) css_urls = [];\n if (js_urls == null) js_urls = [];\n\n root._bokeh_onload_callbacks.push(callback);\n if (root._bokeh_is_loading > 0) {\n console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n return null;\n }\n if (js_urls == null || js_urls.length === 0) {\n run_callbacks();\n return null;\n }\n console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n root._bokeh_is_loading = css_urls.length + js_urls.length;\n\n function on_load() {\n root._bokeh_is_loading--;\n if (root._bokeh_is_loading === 0) {\n console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n run_callbacks()\n }\n }\n\n function on_error(url) {\n console.error(\"failed to load \" + url);\n }\n\n for (let i = 0; i < css_urls.length; i++) {\n const url = css_urls[i];\n const element = document.createElement(\"link\");\n element.onload = on_load;\n element.onerror = on_error.bind(null, url);\n element.rel = \"stylesheet\";\n element.type = \"text/css\";\n element.href = url;\n console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n document.body.appendChild(element);\n }\n\n for (let i = 0; i < js_urls.length; i++) {\n const url = js_urls[i];\n const element = document.createElement('script');\n element.onload = on_load;\n element.onerror = on_error.bind(null, url);\n element.async = false;\n element.src = url;\n console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n document.head.appendChild(element);\n }\n };\n\n function inject_raw_css(css) {\n const element = document.createElement(\"style\");\n element.appendChild(document.createTextNode(css));\n document.body.appendChild(element);\n }\n\n const js_urls = [\"https://cdn.bokeh.org/bokeh/release/bokeh-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-gl-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-widgets-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-tables-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-mathjax-2.4.3.min.js\"];\n const css_urls = [];\n\n const inline_js = [ function(Bokeh) {\n Bokeh.set_log_level(\"info\");\n },\nfunction(Bokeh) {\n }\n ];\n\n function run_inline_js() {\n if (root.Bokeh !== undefined || force === true) {\n for (let i = 0; i < inline_js.length; i++) {\n inline_js[i].call(root, root.Bokeh);\n }\nif (force === true) {\n display_loaded();\n }} else if (Date.now() < root._bokeh_timeout) {\n setTimeout(run_inline_js, 100);\n } else if (!root._bokeh_failed_load) {\n console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n root._bokeh_failed_load = true;\n } else if (force !== true) {\n const cell = $(document.getElementById(\"1001\")).parents('.cell').data().cell;\n cell.output_area.append_execute_result(NB_LOAD_WARNING)\n }\n }\n\n if (root._bokeh_is_loading === 0) {\n console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n run_inline_js();\n } else {\n load_libs(css_urls, js_urls, function() {\n console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n run_inline_js();\n });\n }\n}(window));",
- "application/vnd.bokehjs_load.v0+json": ""
+ "application/javascript": [
+ "(function(root) {\n",
+ " function now() {\n",
+ " return new Date();\n",
+ " }\n",
+ "\n",
+ " const force = true;\n",
+ "\n",
+ " if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n",
+ " root._bokeh_onload_callbacks = [];\n",
+ " root._bokeh_is_loading = undefined;\n",
+ " }\n",
+ "\n",
+ "const JS_MIME_TYPE = 'application/javascript';\n",
+ " const HTML_MIME_TYPE = 'text/html';\n",
+ " const EXEC_MIME_TYPE = 'application/vnd.bokehjs_exec.v0+json';\n",
+ " const CLASS_NAME = 'output_bokeh rendered_html';\n",
+ "\n",
+ " /**\n",
+ " * Render data to the DOM node\n",
+ " */\n",
+ " function render(props, node) {\n",
+ " const script = document.createElement(\"script\");\n",
+ " node.appendChild(script);\n",
+ " }\n",
+ "\n",
+ " /**\n",
+ " * Handle when an output is cleared or removed\n",
+ " */\n",
+ " function handleClearOutput(event, handle) {\n",
+ " const cell = handle.cell;\n",
+ "\n",
+ " const id = cell.output_area._bokeh_element_id;\n",
+ " const server_id = cell.output_area._bokeh_server_id;\n",
+ " // Clean up Bokeh references\n",
+ " if (id != null && id in Bokeh.index) {\n",
+ " Bokeh.index[id].model.document.clear();\n",
+ " delete Bokeh.index[id];\n",
+ " }\n",
+ "\n",
+ " if (server_id !== undefined) {\n",
+ " // Clean up Bokeh references\n",
+ " const cmd_clean = \"from bokeh.io.state import curstate; print(curstate().uuid_to_server['\" + server_id + \"'].get_sessions()[0].document.roots[0]._id)\";\n",
+ " cell.notebook.kernel.execute(cmd_clean, {\n",
+ " iopub: {\n",
+ " output: function(msg) {\n",
+ " const id = msg.content.text.trim();\n",
+ " if (id in Bokeh.index) {\n",
+ " Bokeh.index[id].model.document.clear();\n",
+ " delete Bokeh.index[id];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " });\n",
+ " // Destroy server and session\n",
+ " const cmd_destroy = \"import bokeh.io.notebook as ion; ion.destroy_server('\" + server_id + \"')\";\n",
+ " cell.notebook.kernel.execute(cmd_destroy);\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " /**\n",
+ " * Handle when a new output is added\n",
+ " */\n",
+ " function handleAddOutput(event, handle) {\n",
+ " const output_area = handle.output_area;\n",
+ " const output = handle.output;\n",
+ "\n",
+ " // limit handleAddOutput to display_data with EXEC_MIME_TYPE content only\n",
+ " if ((output.output_type != \"display_data\") || (!Object.prototype.hasOwnProperty.call(output.data, EXEC_MIME_TYPE))) {\n",
+ " return\n",
+ " }\n",
+ "\n",
+ " const toinsert = output_area.element.find(\".\" + CLASS_NAME.split(' ')[0]);\n",
+ "\n",
+ " if (output.metadata[EXEC_MIME_TYPE][\"id\"] !== undefined) {\n",
+ " toinsert[toinsert.length - 1].firstChild.textContent = output.data[JS_MIME_TYPE];\n",
+ " // store reference to embed id on output_area\n",
+ " output_area._bokeh_element_id = output.metadata[EXEC_MIME_TYPE][\"id\"];\n",
+ " }\n",
+ " if (output.metadata[EXEC_MIME_TYPE][\"server_id\"] !== undefined) {\n",
+ " const bk_div = document.createElement(\"div\");\n",
+ " bk_div.innerHTML = output.data[HTML_MIME_TYPE];\n",
+ " const script_attrs = bk_div.children[0].attributes;\n",
+ " for (let i = 0; i < script_attrs.length; i++) {\n",
+ " toinsert[toinsert.length - 1].firstChild.setAttribute(script_attrs[i].name, script_attrs[i].value);\n",
+ " toinsert[toinsert.length - 1].firstChild.textContent = bk_div.children[0].textContent\n",
+ " }\n",
+ " // store reference to server id on output_area\n",
+ " output_area._bokeh_server_id = output.metadata[EXEC_MIME_TYPE][\"server_id\"];\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " function register_renderer(events, OutputArea) {\n",
+ "\n",
+ " function append_mime(data, metadata, element) {\n",
+ " // create a DOM node to render to\n",
+ " const toinsert = this.create_output_subarea(\n",
+ " metadata,\n",
+ " CLASS_NAME,\n",
+ " EXEC_MIME_TYPE\n",
+ " );\n",
+ " this.keyboard_manager.register_events(toinsert);\n",
+ " // Render to node\n",
+ " const props = {data: data, metadata: metadata[EXEC_MIME_TYPE]};\n",
+ " render(props, toinsert[toinsert.length - 1]);\n",
+ " element.append(toinsert);\n",
+ " return toinsert\n",
+ " }\n",
+ "\n",
+ " /* Handle when an output is cleared or removed */\n",
+ " events.on('clear_output.CodeCell', handleClearOutput);\n",
+ " events.on('delete.Cell', handleClearOutput);\n",
+ "\n",
+ " /* Handle when a new output is added */\n",
+ " events.on('output_added.OutputArea', handleAddOutput);\n",
+ "\n",
+ " /**\n",
+ " * Register the mime type and append_mime function with output_area\n",
+ " */\n",
+ " OutputArea.prototype.register_mime_type(EXEC_MIME_TYPE, append_mime, {\n",
+ " /* Is output safe? */\n",
+ " safe: true,\n",
+ " /* Index of renderer in `output_area.display_order` */\n",
+ " index: 0\n",
+ " });\n",
+ " }\n",
+ "\n",
+ " // register the mime type if in Jupyter Notebook environment and previously unregistered\n",
+ " if (root.Jupyter !== undefined) {\n",
+ " const events = require('base/js/events');\n",
+ " const OutputArea = require('notebook/js/outputarea').OutputArea;\n",
+ "\n",
+ " if (OutputArea.prototype.mime_types().indexOf(EXEC_MIME_TYPE) == -1) {\n",
+ " register_renderer(events, OutputArea);\n",
+ " }\n",
+ " }\n",
+ " if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n",
+ " root._bokeh_timeout = Date.now() + 5000;\n",
+ " root._bokeh_failed_load = false;\n",
+ " }\n",
+ "\n",
+ " const NB_LOAD_WARNING = {'data': {'text/html':\n",
+ " \"<div style='background-color: #fdd'>\\n\"+\n",
+ " \"<p>\\n\"+\n",
+ " \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
+ " \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
+ " \"</p>\\n\"+\n",
+ " \"<ul>\\n\"+\n",
+ " \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
+ " \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
+ " \"</ul>\\n\"+\n",
+ " \"<code>\\n\"+\n",
+ " \"from bokeh.resources import INLINE\\n\"+\n",
+ " \"output_notebook(resources=INLINE)\\n\"+\n",
+ " \"</code>\\n\"+\n",
+ " \"</div>\"}};\n",
+ "\n",
+ " function display_loaded() {\n",
+ " const el = document.getElementById(\"1001\");\n",
+ " if (el != null) {\n",
+ " el.textContent = \"BokehJS is loading...\";\n",
+ " }\n",
+ " if (root.Bokeh !== undefined) {\n",
+ " if (el != null) {\n",
+ " el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n",
+ " }\n",
+ " } else if (Date.now() < root._bokeh_timeout) {\n",
+ " setTimeout(display_loaded, 100)\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " function run_callbacks() {\n",
+ " try {\n",
+ " root._bokeh_onload_callbacks.forEach(function(callback) {\n",
+ " if (callback != null)\n",
+ " callback();\n",
+ " });\n",
+ " } finally {\n",
+ " delete root._bokeh_onload_callbacks\n",
+ " }\n",
+ " console.debug(\"Bokeh: all callbacks have finished\");\n",
+ " }\n",
+ "\n",
+ " function load_libs(css_urls, js_urls, callback) {\n",
+ " if (css_urls == null) css_urls = [];\n",
+ " if (js_urls == null) js_urls = [];\n",
+ "\n",
+ " root._bokeh_onload_callbacks.push(callback);\n",
+ " if (root._bokeh_is_loading > 0) {\n",
+ " console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
+ " return null;\n",
+ " }\n",
+ " if (js_urls == null || js_urls.length === 0) {\n",
+ " run_callbacks();\n",
+ " return null;\n",
+ " }\n",
+ " console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
+ " root._bokeh_is_loading = css_urls.length + js_urls.length;\n",
+ "\n",
+ " function on_load() {\n",
+ " root._bokeh_is_loading--;\n",
+ " if (root._bokeh_is_loading === 0) {\n",
+ " console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n",
+ " run_callbacks()\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " function on_error(url) {\n",
+ " console.error(\"failed to load \" + url);\n",
+ " }\n",
+ "\n",
+ " for (let i = 0; i < css_urls.length; i++) {\n",
+ " const url = css_urls[i];\n",
+ " const element = document.createElement(\"link\");\n",
+ " element.onload = on_load;\n",
+ " element.onerror = on_error.bind(null, url);\n",
+ " element.rel = \"stylesheet\";\n",
+ " element.type = \"text/css\";\n",
+ " element.href = url;\n",
+ " console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n",
+ " document.body.appendChild(element);\n",
+ " }\n",
+ "\n",
+ " for (let i = 0; i < js_urls.length; i++) {\n",
+ " const url = js_urls[i];\n",
+ " const element = document.createElement('script');\n",
+ " element.onload = on_load;\n",
+ " element.onerror = on_error.bind(null, url);\n",
+ " element.async = false;\n",
+ " element.src = url;\n",
+ " console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
+ " document.head.appendChild(element);\n",
+ " }\n",
+ " };\n",
+ "\n",
+ " function inject_raw_css(css) {\n",
+ " const element = document.createElement(\"style\");\n",
+ " element.appendChild(document.createTextNode(css));\n",
+ " document.body.appendChild(element);\n",
+ " }\n",
+ "\n",
+ " const js_urls = [\"https://cdn.bokeh.org/bokeh/release/bokeh-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-gl-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-widgets-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-tables-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-mathjax-2.4.3.min.js\"];\n",
+ " const css_urls = [];\n",
+ "\n",
+ " const inline_js = [ function(Bokeh) {\n",
+ " Bokeh.set_log_level(\"info\");\n",
+ " },\n",
+ "function(Bokeh) {\n",
+ " }\n",
+ " ];\n",
+ "\n",
+ " function run_inline_js() {\n",
+ " if (root.Bokeh !== undefined || force === true) {\n",
+ " for (let i = 0; i < inline_js.length; i++) {\n",
+ " inline_js[i].call(root, root.Bokeh);\n",
+ " }\n",
+ "if (force === true) {\n",
+ " display_loaded();\n",
+ " }} else if (Date.now() < root._bokeh_timeout) {\n",
+ " setTimeout(run_inline_js, 100);\n",
+ " } else if (!root._bokeh_failed_load) {\n",
+ " console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
+ " root._bokeh_failed_load = true;\n",
+ " } else if (force !== true) {\n",
+ " const cell = $(document.getElementById(\"1001\")).parents('.cell').data().cell;\n",
+ " cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " if (root._bokeh_is_loading === 0) {\n",
+ " console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
+ " run_inline_js();\n",
+ " } else {\n",
+ " load_libs(css_urls, js_urls, function() {\n",
+ " console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n",
+ " run_inline_js();\n",
+ " });\n",
+ " }\n",
+ "}(window));"
+ ],
+ "application/vnd.bokehjs_load.v0+json": "(function(root) {\n function now() {\n return new Date();\n }\n\n const force = true;\n\n if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n root._bokeh_onload_callbacks = [];\n root._bokeh_is_loading = undefined;\n }\n\n\n if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n root._bokeh_timeout = Date.now() + 5000;\n root._bokeh_failed_load = false;\n }\n\n const NB_LOAD_WARNING = {'data': {'text/html':\n \"<div style='background-color: #fdd'>\\n\"+\n \"<p>\\n\"+\n \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n \"</p>\\n\"+\n \"<ul>\\n\"+\n \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n \"<li>use INLINE resources instead, as so:</li>\\n\"+\n \"</ul>\\n\"+\n \"<code>\\n\"+\n \"from bokeh.resources import INLINE\\n\"+\n \"output_notebook(resources=INLINE)\\n\"+\n \"</code>\\n\"+\n \"</div>\"}};\n\n function display_loaded() {\n const el = document.getElementById(\"1001\");\n if (el != null) {\n el.textContent = \"BokehJS is loading...\";\n }\n if (root.Bokeh !== undefined) {\n if (el != null) {\n el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n }\n } else if (Date.now() < root._bokeh_timeout) {\n setTimeout(display_loaded, 100)\n }\n }\n\n function run_callbacks() {\n try {\n root._bokeh_onload_callbacks.forEach(function(callback) {\n if (callback != null)\n callback();\n });\n } finally {\n delete root._bokeh_onload_callbacks\n }\n console.debug(\"Bokeh: all callbacks have finished\");\n }\n\n function load_libs(css_urls, js_urls, callback) {\n if (css_urls == null) css_urls = [];\n if (js_urls == null) js_urls = [];\n\n root._bokeh_onload_callbacks.push(callback);\n if (root._bokeh_is_loading > 0) {\n console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n return null;\n }\n if (js_urls == null || js_urls.length === 0) {\n run_callbacks();\n return null;\n }\n console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n root._bokeh_is_loading = css_urls.length + js_urls.length;\n\n function on_load() {\n root._bokeh_is_loading--;\n if (root._bokeh_is_loading === 0) {\n console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n run_callbacks()\n }\n }\n\n function on_error(url) {\n console.error(\"failed to load \" + url);\n }\n\n for (let i = 0; i < css_urls.length; i++) {\n const url = css_urls[i];\n const element = document.createElement(\"link\");\n element.onload = on_load;\n element.onerror = on_error.bind(null, url);\n element.rel = \"stylesheet\";\n element.type = \"text/css\";\n element.href = url;\n console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n document.body.appendChild(element);\n }\n\n for (let i = 0; i < js_urls.length; i++) {\n const url = js_urls[i];\n const element = document.createElement('script');\n element.onload = on_load;\n element.onerror = on_error.bind(null, url);\n element.async = false;\n element.src = url;\n console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n document.head.appendChild(element);\n }\n };\n\n function inject_raw_css(css) {\n const element = document.createElement(\"style\");\n element.appendChild(document.createTextNode(css));\n document.body.appendChild(element);\n }\n\n const js_urls = [\"https://cdn.bokeh.org/bokeh/release/bokeh-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-gl-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-widgets-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-tables-2.4.3.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-mathjax-2.4.3.min.js\"];\n const css_urls = [];\n\n const inline_js = [ function(Bokeh) {\n Bokeh.set_log_level(\"info\");\n },\nfunction(Bokeh) {\n }\n ];\n\n function run_inline_js() {\n if (root.Bokeh !== undefined || force === true) {\n for (let i = 0; i < inline_js.length; i++) {\n inline_js[i].call(root, root.Bokeh);\n }\nif (force === true) {\n display_loaded();\n }} else if (Date.now() < root._bokeh_timeout) {\n setTimeout(run_inline_js, 100);\n } else if (!root._bokeh_failed_load) {\n console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n root._bokeh_failed_load = true;\n } else if (force !== true) {\n const cell = $(document.getElementById(\"1001\")).parents('.cell').data().cell;\n cell.output_area.append_execute_result(NB_LOAD_WARNING)\n }\n }\n\n if (root._bokeh_is_loading === 0) {\n console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n run_inline_js();\n } else {\n load_libs(css_urls, js_urls, function() {\n console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n run_inline_js();\n });\n }\n}(window));"
},
"metadata": {},
"output_type": "display_data"
@@ -106,6 +385,47 @@
"# Simulating the planner <a name=\"simulation\"></a>"
]
},
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "id": "aff526c3",
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "'/host_home/Repos/nuplan-devkit/experiments'"
+ ]
+ },
+ "execution_count": 3,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "%pwd"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "id": "c8b59d7c",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "env: NUPLAN_DATA_ROOT=/home/ehdykhne/Repos/Datasets/nuplan/dataset\n",
+ "env: NUPLAN_MAPS_ROOT=/home/ehdykhne/Repos/Datasets/nuplan/dataset/maps\n"
+ ]
+ }
+ ],
+ "source": [
+ "%env NUPLAN_DATA_ROOT=/home/ehdykhne/Repos/Datasets/nuplan/dataset\n",
+ "%env NUPLAN_MAPS_ROOT=/home/ehdykhne/Repos/Datasets/nuplan/dataset/maps"
+ ]
+ },
{
"cell_type": "markdown",
"id": "db337ceb",
@@ -116,7 +436,7 @@
},
{
"cell_type": "code",
- "execution_count": 3,
+ "execution_count": 5,
"id": "11b08c6d",
"metadata": {},
"outputs": [],
@@ -135,7 +455,7 @@
" \"scenario_filter.log_names=['2021.06.14.16.48.02_veh-12_04057_04438']\",\n",
" 'scenario_filter.limit_total_scenarios=1', # use 1 total scenarios\n",
"]\n",
- "ckpt_dir = '/home/sacardoz/checkpoints/pdm_offset_checkpoint.ckpt'\n",
+ "ckpt_dir = '/home/ehdykhne/Repos/nuplan-devkit/experiments/pretrained_checkpoints/pdm_offset_checkpoint.ckpt'\n",
"#'/home/sacardoz/checkpoints/urbandriver_checkpoint.ckpt'\n",
"#\"/home/sacardoz/tutorial_vector_framework/training_simple_vector_experiment/train_default_simple_vector/2023.11.23.09.55.21/best_model/epoch.ckpt\"\n",
"#\"/home/sacardoz/training_raster_experiment/train_default_raster/2023.11.23.07.36.36/best_model/epoch.ckpt\"\n",
@@ -156,6 +476,7 @@
" #f'observation.checkpoint_path={ckpt_dir}',\n",
" 'worker=sequential',\n",
" '+occlusion=true',\n",
+ " '+occlusion.manager_type=complete_shadow', #options: [range, complete_shadow]\n",
" \"hydra.searchpath=[pkg://tuplan_garage.planning.script.config.common, pkg://tuplan_garage.planning.script.config.simulation, pkg://nuplan.planning.script.config.common, pkg://nuplan.planning.script.experiments]\",\n",
" *DATASET_PARAMS,\n",
"])"
@@ -171,16 +492,16 @@
},
{
"cell_type": "code",
- "execution_count": 4,
+ "execution_count": 6,
"id": "161cc166",
- "metadata": {},
+ "metadata": {
+ "scrolled": true
+ },
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
- "INFO:nuplan.planning.script.utils:Setting default NUPLAN_DATA_ROOT: /home/sacardoz/nuplan/dataset\n",
- "INFO:nuplan.planning.script.utils:Setting default NUPLAN_EXP_ROOT: /home/sacardoz/nuplan/exp\n",
"Global seed set to 0\n",
"INFO:nuplan.planning.script.builders.main_callback_builder:Building MultiMainCallback...\n",
"INFO:nuplan.planning.script.builders.main_callback_builder:Building MultiMainCallback: 4...DONE!\n"
@@ -190,32 +511,32 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-11-28 11:02:20,269 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
- "2023-11-28 11:02:20,270 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
- "2023-11-28 11:02:20,270 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
+ "2023-11-29 11:53:16,287 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
+ "2023-11-29 11:53:16,288 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
+ "2023-11-29 11:53:16,288 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
"Number of CPUs per node: 1\n",
"Number of GPUs per node: 0\n",
"Number of threads across all nodes: 1\n",
- "2023-11-28 11:02:20,270 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
- "2023-11-28 11:02:20,270 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
- "2023-11-28 11:02:20,270 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
+ "2023-11-29 11:53:16,288 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
+ "2023-11-29 11:53:16,288 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
+ "2023-11-29 11:53:16,288 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
"\n",
- "\tFolder where all results are stored: /home/sacardoz/nuplan/exp/exp/simulation/closed_loop_reactive_agents/2023.11.28.11.02.19\n",
+ "\tFolder where all results are stored: /home/ehdykhne/Repos/Datasets/nuplan/exp/exp/simulation/closed_loop_reactive_agents/2023.11.29.11.53.16\n",
"\n",
- "2023-11-28 11:02:20,271 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
- "2023-11-28 11:02:20,272 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
- "2023-11-28 11:02:20,272 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
- "2023-11-28 11:02:20,272 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
- "2023-11-28 11:02:20,272 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
- "2023-11-28 11:02:20,272 INFO {/home/sacardoz/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
- "2023-11-28 11:02:20,272 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
- "2023-11-28 11:02:20,284 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
- "2023-11-28 11:02:20,284 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
- "2023-11-28 11:02:20,285 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
- "2023-11-28 11:02:20,302 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
- "2023-11-28 11:02:20,327 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
- "2023-11-28 11:02:20,327 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
- "2023-11-28 11:02:20,786 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n"
+ "2023-11-29 11:53:16,309 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
+ "2023-11-29 11:53:16,309 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
+ "2023-11-29 11:53:16,309 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
+ "2023-11-29 11:53:16,309 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
+ "2023-11-29 11:53:16,310 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
+ "2023-11-29 11:53:16,310 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
+ "2023-11-29 11:53:16,310 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
+ "2023-11-29 11:53:16,321 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
+ "2023-11-29 11:53:16,321 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
+ "2023-11-29 11:53:16,322 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
+ "2023-11-29 11:53:16,515 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
+ "2023-11-29 11:53:16,539 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
+ "2023-11-29 11:53:16,539 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
+ "2023-11-29 11:53:16,954 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n"
]
}
],
@@ -229,7 +550,7 @@
},
{
"cell_type": "code",
- "execution_count": 5,
+ "execution_count": 7,
"id": "223284d4",
"metadata": {},
"outputs": [],
@@ -239,7 +560,7 @@
},
{
"cell_type": "code",
- "execution_count": 6,
+ "execution_count": 8,
"id": "90b79421",
"metadata": {},
"outputs": [
@@ -249,6 +570,182 @@
"text": [
" \r"
]
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
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+ "elapsed time: 0.03910946846008301\n",
+ "elapsed time: 0.03990888595581055\n",
+ "elapsed time: 0.03977513313293457\n",
+ "elapsed time: 0.03940868377685547\n",
+ "elapsed time: 0.03820657730102539\n",
+ "elapsed time: 0.037245988845825195\n",
+ "elapsed time: 0.03798174858093262\n",
+ "elapsed time: 0.03704357147216797\n",
+ "elapsed time: 0.03214216232299805\n",
+ "elapsed time: 0.0314328670501709\n",
+ "elapsed time: 0.03196096420288086\n",
+ "elapsed time: 0.03226613998413086\n",
+ "elapsed time: 0.03210568428039551\n",
+ "elapsed time: 0.03227066993713379\n",
+ "elapsed time: 0.03103947639465332\n",
+ "elapsed time: 0.030683040618896484\n",
+ "elapsed time: 0.031124114990234375\n",
+ "elapsed time: 0.0313417911529541\n",
+ "elapsed time: 0.031717777252197266\n",
+ "elapsed time: 0.03174924850463867\n",
+ "elapsed time: 0.03109598159790039\n",
+ "elapsed time: 0.030297040939331055\n",
+ "elapsed time: 0.030659198760986328\n",
+ "elapsed time: 0.02944207191467285\n",
+ "elapsed time: 0.028339862823486328\n",
+ "elapsed time: 0.028562068939208984\n",
+ "elapsed time: 0.027463912963867188\n",
+ "elapsed time: 0.027869462966918945\n",
+ "elapsed time: 0.02405858039855957\n",
+ "elapsed time: 0.023447751998901367\n",
+ "elapsed time: 0.022365093231201172\n",
+ "elapsed time: 0.021931171417236328\n",
+ "elapsed time: 0.022172212600708008\n",
+ "elapsed time: 0.02304244041442871\n",
+ "elapsed time: 0.023903608322143555\n",
+ "elapsed time: 0.024321794509887695\n",
+ "elapsed time: 0.024337291717529297\n",
+ "elapsed time: 0.02479100227355957\n",
+ "elapsed time: 0.024851083755493164\n",
+ "elapsed time: 0.02486586570739746\n",
+ "elapsed time: 0.025527000427246094\n",
+ "elapsed time: 0.02471184730529785\n",
+ "elapsed time: 0.025118589401245117\n",
+ "elapsed time: 0.024780750274658203\n",
+ "elapsed time: 0.024580955505371094\n",
+ "elapsed time: 0.026010513305664062\n",
+ "elapsed time: 0.02849745750427246\n",
+ "elapsed time: 0.025658369064331055\n",
+ "elapsed time: 0.026093006134033203\n",
+ "elapsed time: 0.026526212692260742\n",
+ "elapsed time: 0.026284217834472656\n",
+ "elapsed time: 0.025562286376953125\n",
+ "elapsed time: 0.025296449661254883\n",
+ "elapsed time: 0.025045394897460938\n",
+ "elapsed time: 0.02499985694885254\n",
+ "elapsed time: 0.024728775024414062\n",
+ "elapsed time: 0.024486541748046875\n",
+ "elapsed time: 0.0250551700592041\n",
+ "elapsed time: 0.024932384490966797\n",
+ "elapsed time: 0.024564743041992188\n",
+ "elapsed time: 0.025130271911621094\n",
+ "elapsed time: 0.024932146072387695\n",
+ "elapsed time: 0.025365114212036133\n",
+ "elapsed time: 0.02483391761779785\n"
+ ]
}
],
"source": [
@@ -285,15 +782,17 @@
},
{
"cell_type": "code",
- "execution_count": 7,
+ "execution_count": 9,
"id": "e6c22f5f",
- "metadata": {},
+ "metadata": {
+ "scrolled": true
+ },
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
- "INFO:bokeh.server.server:Starting Bokeh server version 2.4.3 (running on Tornado 6.3.3)\n",
+ "INFO:bokeh.server.server:Starting Bokeh server version 2.4.3 (running on Tornado 6.2)\n",
"WARNING:bokeh.server.util:Host wildcard '*' will allow connections originating from multiple (or possibly all) hostnames or IPs. Use non-wildcard values to restrict access explicitly\n",
"INFO:bokeh.server.tornado:User authentication hooks NOT provided (default user enabled)\n"
]
@@ -306,7 +805,7 @@
" (function() {\n",
" const xhr = new XMLHttpRequest()\n",
" xhr.responseType = 'blob';\n",
- " xhr.open('GET', \"http://localhost:8888/autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:8888&resources=none\", true);\n",
+ " xhr.open('GET', \"http://localhost:5006/autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5006&resources=none\", true);\n",
" xhr.onload = function (event) {\n",
" const script = document.createElement('script');\n",
" const src = URL.createObjectURL(event.target.response);\n",
@@ -320,7 +819,7 @@
},
"metadata": {
"application/vnd.bokehjs_exec.v0+json": {
- "server_id": "09119f1b4c254247b9a8a2c9feb5a3bb"
+ "server_id": "07e9a7f5faa6442b9802b3b9bdd4f578"
}
},
"output_type": "display_data"
@@ -329,23 +828,60 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-11-28 11:03:23,128 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-11-28 11:03:23,129 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-11-28 11:03:23,129 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt'. Is this a 'parquet' file?: Could not open Parquet input source 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-11-28 11:03:23,129 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-11-28 11:03:23,130 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml'. Is this a 'parquet' file?: Could not open Parquet input source 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-11-28 11:03:23,132 INFO {/home/sacardoz/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n"
+ "2023-11-29 11:56:39,656 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:39,656 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:39,657 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt'. Is this a 'parquet' file?: Could not open Parquet input source 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:39,657 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from '.ipynb_checkpoints/test_notebook-checkpoint.ipynb'. Is this a 'parquet' file?: Could not open Parquet input source '.ipynb_checkpoints/test_notebook-checkpoint.ipynb': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:39,657 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml'. Is this a 'parquet' file?: Could not open Parquet input source 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:39,658 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:39,659 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n"
+ ]
+ },
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 41.79it/s]\n",
+ "WARNING:bokeh.core.validation.check:W-1000 (MISSING_RENDERERS): Plot has no renderers: Figure(id='1005', ...)\n"
+ ]
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "2023-11-29 11:56:41,822 INFO {/opt/conda/lib/python3.9/site-packages/tornado/web.py:2271} 200 GET / (10.40.110.52) 2176.07ms\n",
+ "2023-11-29 11:56:41,827 INFO {/home/ehdykhne/Repos/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n"
+ ]
+ },
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "INFO:tornado.access:200 GET / (10.40.110.52) 2176.07ms\n"
+ ]
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "2023-11-29 11:56:42,805 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:42,805 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:42,806 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt'. Is this a 'parquet' file?: Could not open Parquet input source 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:42,806 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from '.ipynb_checkpoints/test_notebook-checkpoint.ipynb'. Is this a 'parquet' file?: Could not open Parquet input source '.ipynb_checkpoints/test_notebook-checkpoint.ipynb': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:42,807 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml'. Is this a 'parquet' file?: Could not open Parquet input source 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:42,807 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-11-29 11:56:42,809 INFO {/home/ehdykhne/Repos/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 7.03it/s]\n",
- "WARNING:bokeh.core.validation.check:W-1000 (MISSING_RENDERERS): Plot has no renderers: Figure(id='1005', ...)\n",
- "INFO:tornado.access:200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:8888&resources=none (::1) 959.86ms\n",
+ "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 23.66it/s]\n",
+ "WARNING:bokeh.core.validation.check:W-1000 (MISSING_RENDERERS): Plot has no renderers: Figure(id='3822', ...)\n",
"INFO:bokeh.server.views.ws:WebSocket connection opened\n",
- "INFO:tornado.access:101 GET /ws?id=7cadc218-0d10-4ad2-90c5-86e1be250248&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.62ms\n",
+ "INFO:tornado.access:200 GET / (10.40.110.52) 816.47ms\n",
+ "INFO:tornado.access:101 GET /ws (10.40.110.52) 821.70ms\n",
"INFO:bokeh.server.views.ws:ServerConnection created\n"
]
},
@@ -353,21 +889,37 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-11-28 11:03:24,076 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:8888&resources=none (::1) 959.86ms\n",
- "2023-11-28 11:03:24,083 INFO {/home/sacardoz/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n",
- "2023-11-28 11:03:24,084 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws?id=7cadc218-0d10-4ad2-90c5-86e1be250248&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.62ms\n"
+ "2023-11-29 11:56:43,620 INFO {/opt/conda/lib/python3.9/site-packages/tornado/web.py:2271} 200 GET / (10.40.110.52) 816.47ms\n",
+ "2023-11-29 11:56:43,625 INFO {/opt/conda/lib/python3.9/site-packages/tornado/web.py:2271} 101 GET /ws (10.40.110.52) 821.70ms\n",
+ "2023-11-29 11:56:43,705 INFO {/home/ehdykhne/Repos/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n"
]
}
],
"source": [
"from tutorials.utils.tutorial_utils import visualize_history\n",
- "visualize_history(runner.simulation._history, runner.scenario, bokeh_port=8888)"
+ "visualize_history(runner.simulation._history, runner.scenario, bokeh_port=5006)"
]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "887a51e2",
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "e0a12035",
+ "metadata": {},
+ "outputs": [],
+ "source": []
}
],
"metadata": {
"kernelspec": {
- "display_name": "nuplan",
+ "display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
@@ -381,7 +933,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.9.18"
+ "version": "3.9.16"
}
},
"nbformat": 4,
diff --git a/nuplan/planning/script/builders/occlusion_manager_builder.py b/nuplan/planning/script/builders/occlusion_manager_builder.py
index 2b75cc59d7d4c7b922ced2a140268924e04f6d21..2a1b2ae0869496f4a045e8eaf64367434a0898fb 100644
--- a/nuplan/planning/script/builders/occlusion_manager_builder.py
+++ b/nuplan/planning/script/builders/occlusion_manager_builder.py
@@ -4,6 +4,8 @@ from omegaconf import DictConfig
from nuplan.planning.scenario_builder.abstract_scenario import AbstractScenario
from nuplan.planning.simulation.occlusion.abstract_occlusion_manager import AbstractOcclusionManager
from nuplan.planning.simulation.occlusion.range_occlusion_manager import RangeOcclusionManager
+from nuplan.planning.simulation.occlusion.complete_shadow_occlusion_manager import CompleteShadowOcclusionManager
+
def build_occlusion_manager(occlusion_cfg: DictConfig, scenario: AbstractScenario) -> AbstractOcclusionManager:
"""
@@ -12,7 +14,13 @@ def build_occlusion_manager(occlusion_cfg: DictConfig, scenario: AbstractScenari
:param scenario: scenario
:return occlusion_cfg
"""
- # Placeholder
- occlusion_manager: AbstractOcclusionManager = RangeOcclusionManager(scenario)
+ occlusion_manager: AbstractOcclusionManager
+ if occlusion_cfg.manager_type == 'range': #masks everyone further away than a set threshold
+ occlusion_manager = RangeOcclusionManager(scenario)
+ elif occlusion_cfg.manager_type == 'complete_shadow': #masks everyone who is is completely occluded
+ occlusion_manager = CompleteShadowOcclusionManager(scenario)
+ else:
+ raise ValueError(f"Invalid manager_type selected. Got {occlusion_cfg.manager_type}")
+
return occlusion_manager
diff --git a/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py b/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py
new file mode 100644
index 0000000000000000000000000000000000000000..3e08e0b2545db103206bd3a141a99b696822c4c9
--- /dev/null
+++ b/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py
@@ -0,0 +1,99 @@
+from nuplan.common.actor_state.ego_state import EgoState
+from nuplan.planning.scenario_builder.abstract_scenario import AbstractScenario
+from nuplan.planning.simulation.observation.observation_type import DetectionsTracks
+from nuplan.planning.simulation.occlusion.abstract_occlusion_manager import AbstractOcclusionManager
+from nuplan.common.actor_state.agent_state import AgentState
+from nuplan.common.actor_state.tracked_objects_types import AGENT_TYPES, STATIC_OBJECT_TYPES, TrackedObjectType
+from shapely.geometry import Polygon, Point
+from shapely.ops import unary_union
+from typing import List
+from collections import deque
+import math
+import time
+
+
+class CompleteShadowOcclusionManager(AbstractOcclusionManager):
+ """
+ Range occlusion manager. Occludes all objects outside of a given
+ range of the ego.
+ """
+
+ def __init__(
+ self,
+ scenario: AbstractScenario,
+ horizon_threshold: float = 4800, # meters since that is how far a standing human can see unblocked before the curvature of the earth cuts your line of sight
+ min_rad: float = 0.035 # minimum radians that the vehicle must take up to be observed (0.035 = aprox 2 degrees)
+ ):
+ super().__init__(scenario)
+ self.horizon_threshold = horizon_threshold
+ self.min_rad = min_rad
+ def _compute_visible_agents(self, ego_state: EgoState, observations: DetectionsTracks) -> set:
+ """
+ Returns set of track tokens that represents the observations visible to the ego
+ at this time step.
+ """
+
+ # Visible track token set
+
+ return self._determine_occlusions(ego_state.agent, observations.tracked_objects.tracked_objects)
+
+ def _determine_occlusions(self, observer: AgentState, targets:List[AgentState]) -> set:
+ start = time.time()
+ not_occluded = set() # Visible track token set
+
+ shadow_polys = deque([])
+ for target in targets: #first we construct shadows
+ if target.tracked_object_type == TrackedObjectType.VEHICLE or target.tracked_object_type == TrackedObjectType.EGO:
+ corners_list = target.box.all_corners() #Return 4 corners of oriented box (FL, RL, RR, FR) Point2D
+ corners = []
+ for corner in corners_list:
+ corners.append((corner.x - observer.center.x, corner.y - observer.center.y)) #we shift the corners and move them to a different data structure we can play with
+ horizon_points = []
+ range_to_ego = ((target.center.x - observer.center.x)**2 + (target.center.y - observer.center.y)**2)**0.5
+ shadow_range_from_ego = max(self.horizon_threshold, range_to_ego) #if horizon_threshold is big enough, we dont even really need to check which is the max. we can just always take the horizon threshold
+ for corner in corners:
+ shadow_range_multiplier = shadow_range_from_ego / (corner[0]**2 + corner[1]**2)**0.5
+ horizon_points.append((corner[0]*shadow_range_multiplier, corner[1]*shadow_range_multiplier))
+
+ shadow_polygon1 = Polygon([corners[0], horizon_points[0], horizon_points[2], corners[2]])#FL and RR gives one diagonal
+ shadow_polygon2 = Polygon([corners[1], horizon_points[1], horizon_points[3], corners[3]])#RL and FR gives the second diagonal
+ shadow_polys.append(shadow_polygon1)
+ shadow_polys.append(shadow_polygon2)
+
+ combined_shadow_poly = unary_union(shadow_polys)
+
+ observer_origin = Point((0,0))
+ for target in targets: #now we check if each target is contained within the shadows
+ corners_list = target.box.all_corners() #Return 4 corners of oriented box (FL, RL, RR, FR) Point2D
+ corners = []
+ for corner in corners_list:
+ corners.append((corner.x - observer.center.x, corner.y - observer.center.y)) #we shift the corners and move them to a different data structure we can play with
+ target_poly = Polygon(corners)
+
+ diff_poly = target_poly.difference(combined_shadow_poly)
+
+ hull = unary_union([diff_poly, observer_origin]).convex_hull
+ if isinstance(hull, Polygon):
+ neighbor_1, neighbor_2 = self._get_two_neighbors((0,0), hull)
+ radians = abs(math.atan2(neighbor_1.x*neighbor_2.y - neighbor_1.y*neighbor_2.x, neighbor_1.x*neighbor_2.x + neighbor_1.y*neighbor_2.y ))
+ if radians > self.min_rad:
+ not_occluded.add(target.metadata.track_token)
+ print('elapsed time:', time.time() - start)
+ return not_occluded
+
+ def _get_two_neighbors(self, point, polygon) -> List[Point]:
+ """retrieve the two neighboring points of point in the polygon
+ :point: a tuple representing a point of the polygon
+ :polygon: a shapely Polygon
+ return: a tuple of the two points immediately neighbors of point
+ """
+ points = list(polygon.exterior.coords)
+ ndx = points.index(point)
+ two_neighbors = [points[(ndx-1)%len(points)], points[(ndx+1)%len(points)]]
+ if two_neighbors[0] == point:
+ two_neighbors[0] = points[(ndx-2)%len(points)]
+ if two_neighbors[1] == point:
+ two_neighbors[1] = points[(ndx+2)%len(points)]
+ two_neighbors[0] = Point(two_neighbors[0])
+ two_neighbors[1] = Point(two_neighbors[1])
+ return two_neighbors
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index b60f549208d0cf546f77f41fc765ae35893e11fc..d0601c28675efb45368006d6807f33f0f95c61bb 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -46,7 +46,7 @@ SQLAlchemy==1.4.27 # older versions don't work with some table definitions
sympy # Use for symbolic algebra
testbook # Used in testing jupyter notebooks
tornado # Used in nuboard.py
-threadpoolctl==3.2.0s
+threadpoolctl==3.2.0
tqdm # Used widely
typer # Used for cli
ujson # Used in serialiation_callback.py