From 4d8a90fdb90ec6358c4212c0fa75a1b691a7dd35 Mon Sep 17 00:00:00 2001
From: Henry <ehdykhne@uwaterloo.ca>
Date: Thu, 28 Dec 2023 06:58:04 -0500
Subject: [PATCH] cleanup
---
experiments/bulk_running_experiments.ipynb | 601 +++++++++++++++---
.../occlusion/abstract_occlusion_manager.py | 13 +-
2 files changed, 525 insertions(+), 89 deletions(-)
diff --git a/experiments/bulk_running_experiments.ipynb b/experiments/bulk_running_experiments.ipynb
index c90b19a..0eed840 100644
--- a/experiments/bulk_running_experiments.ipynb
+++ b/experiments/bulk_running_experiments.ipynb
@@ -127,7 +127,7 @@
"output_type": "stream",
"text": [
"default_simulation\n",
- "output_folder = \"../../data/nuplan/exp/exp/simulation/open_loop_boxes/2023.12.27.06.45.47\"\n"
+ "output_folder = \"../../data/nuplan/exp/exp/simulation/open_loop_boxes/2023.12.28.03.49.46\"\n"
]
}
],
@@ -283,98 +283,561 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:45:47,270 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
- "2023-12-27 06:45:47,322 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/utils/multithreading/worker_ray.py:78} Starting ray local!\n"
+ "2023-12-28 03:49:46,792 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
+ "2023-12-28 03:49:46,843 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/utils/multithreading/worker_ray.py:78} Starting ray local!\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "2023-12-27 06:45:48,906\tINFO worker.py:1636 -- Started a local Ray instance.\n"
+ "2023-12-28 03:49:48,423\tINFO worker.py:1636 -- Started a local Ray instance.\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:45:49,555 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: RayDistributed\n",
- "2023-12-27 06:45:49,555 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
+ "2023-12-28 03:49:49,133 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: RayDistributed\n",
+ "2023-12-28 03:49:49,133 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
"Number of CPUs per node: 32\n",
"Number of GPUs per node: 4\n",
"Number of threads across all nodes: 32\n",
- "2023-12-27 06:45:49,555 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
- "2023-12-27 06:45:49,555 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
- "2023-12-27 06:45:49,555 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
+ "2023-12-28 03:49:49,133 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
+ "2023-12-28 03:49:49,133 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
+ "2023-12-28 03:49:49,133 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
"\n",
- "\tFolder where all results are stored: ../../data/nuplan/exp/exp/simulation/open_loop_boxes/2023.12.27.06.45.47\n",
+ "\tFolder where all results are stored: ../../data/nuplan/exp/exp/simulation/open_loop_boxes/2023.12.28.03.49.46\n",
"\n",
- "2023-12-27 06:45:49,563 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
- "2023-12-27 06:45:49,564 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
- "2023-12-27 06:45:49,564 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
- "2023-12-27 06:45:49,564 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
- "2023-12-27 06:45:49,564 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
- "2023-12-27 06:45:49,564 INFO {/home/ehdykhne/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
- "2023-12-27 06:45:49,565 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
- "2023-12-27 06:45:49,582 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
- "2023-12-27 06:45:49,582 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
- "2023-12-27 06:45:49,583 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n"
+ "2023-12-28 03:49:49,142 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
+ "2023-12-28 03:49:49,142 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
+ "2023-12-28 03:49:49,142 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
+ "2023-12-28 03:49:49,142 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
+ "2023-12-28 03:49:49,142 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
+ "2023-12-28 03:49:49,142 INFO {/home/ehdykhne/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
+ "2023-12-28 03:49:49,143 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
+ "2023-12-28 03:49:49,159 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
+ "2023-12-28 03:49:49,160 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
+ "2023-12-28 03:49:49,160 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "Ray objects: 100%|██████████| 32/32 [00:01<00:00, 22.95it/s]\n"
+ "Ray objects: 100%|██████████| 32/32 [00:01<00:00, 26.25it/s]\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:45:51,008 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
- "2023-12-27 06:45:51,023 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
- "2023-12-27 06:45:51,023 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
- "2023-12-27 06:45:51,290 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n",
- "2023-12-27 06:45:51,291 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/run_simulation.py:114} Running simulation...\n",
- "2023-12-27 06:45:51,291 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/utils.py:138} Executing runners...\n",
- "2023-12-27 06:45:51,291 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/runner/executor.py:82} Starting 1 simulations using RayDistributed!\n"
+ "2023-12-28 03:49:50,408 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
+ "2023-12-28 03:49:50,424 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
+ "2023-12-28 03:49:50,424 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
+ "2023-12-28 03:49:50,694 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n",
+ "2023-12-28 03:49:50,694 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/run_simulation.py:114} Running simulation...\n",
+ "2023-12-28 03:49:50,694 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/utils.py:138} Executing runners...\n",
+ "2023-12-28 03:49:50,694 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/runner/executor.py:82} Starting 1 simulations using RayDistributed!\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "Ray objects: 100%|██████████| 1/1 [00:21<00:00, 21.64s/it]\n"
+ "Ray objects: 0%| | 0/1 [00:00<?, ?it/s]"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:46:12,936 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/runner/executor.py:127} Number of successful simulations: 1\n",
- "2023-12-27 06:46:12,936 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/runner/executor.py:128} Number of failed simulations: 0\n",
- "2023-12-27 06:46:12,936 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/utils.py:147} Finished executing runners!\n",
- "2023-12-27 06:46:12,942 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/utils.py:74} Saved runner reports to ../../data/nuplan/exp/exp/simulation/open_loop_boxes/2023.12.27.06.45.47/runner_report.parquet\n",
- "2023-12-27 06:46:12,942 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/time_callback.py:27} Simulation duration: 00:00:25 [HH:MM:SS]\n",
- "2023-12-27 06:46:12,969 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_file_callback.py:79} Metric files integration: 00:00:00 [HH:MM:SS]\n",
- "2023-12-27 06:46:13,001 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_aggregator_callback.py:58} Running metric aggregator: open_loop_boxes_weighted_average\n",
- "2023-12-27 06:46:13,007 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_aggregator_callback.py:69} Metric aggregator: 00:00:00 [HH:MM:SS]\n"
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+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0004391670227050781\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.021907446390980127\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.019839048385620117\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.00043392181396484375\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.02187210825491822\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.01989436149597168\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.00045013427734375\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.0226262238893616\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.019382953643798828\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.00045990943908691406\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.02372752097222564\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.01967024803161621\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0004475116729736328\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.022750687853775015\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.019778966903686523\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0005478858947753906\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.027700430333056088\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.019086837768554688\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0004971027374267578\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.026044269011691816\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.019339323043823242\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0004870891571044922\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.025186463662701105\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.01907181739807129\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0004634857177734375\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.024302126436063155\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m V 0.018561124801635742\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N 0.0004730224609375\n",
+ "\u001b[2m\u001b[36m(wrapped_fn pid=587324)\u001b[0m N/V 0.025484579517283015\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "Rendering histograms: 100%|██████████| 11/11 [00:01<00:00, 8.06it/s]\n"
+ "Ray objects: 100%|██████████| 1/1 [00:21<00:00, 21.80s/it]\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:46:15,714 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_summary_callback.py:344} Metric summary: 00:00:02 [HH:MM:SS]\n",
- "2023-12-27 06:46:15,715 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/run_simulation.py:116} Finished running simulation!\n"
+ "2023-12-28 03:50:12,500 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/runner/executor.py:127} Number of successful simulations: 1\n",
+ "2023-12-28 03:50:12,501 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/runner/executor.py:128} Number of failed simulations: 0\n",
+ "2023-12-28 03:50:12,501 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/utils.py:147} Finished executing runners!\n",
+ "2023-12-28 03:50:12,507 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/utils.py:74} Saved runner reports to ../../data/nuplan/exp/exp/simulation/open_loop_boxes/2023.12.28.03.49.46/runner_report.parquet\n",
+ "2023-12-28 03:50:12,507 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/time_callback.py:27} Simulation duration: 00:00:25 [HH:MM:SS]\n",
+ "2023-12-28 03:50:12,534 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_file_callback.py:79} Metric files integration: 00:00:00 [HH:MM:SS]\n",
+ "2023-12-28 03:50:12,566 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_aggregator_callback.py:58} Running metric aggregator: open_loop_boxes_weighted_average\n",
+ "2023-12-28 03:50:12,573 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_aggregator_callback.py:69} Metric aggregator: 00:00:00 [HH:MM:SS]\n"
+ ]
+ },
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "Rendering histograms: 100%|██████████| 11/11 [00:01<00:00, 7.99it/s]\n"
+ ]
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "2023-12-28 03:50:15,295 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/simulation/main_callback/metric_summary_callback.py:344} Metric summary: 00:00:02 [HH:MM:SS]\n",
+ "2023-12-28 03:50:15,295 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/run_simulation.py:116} Finished running simulation!\n"
]
},
{
@@ -579,63 +1042,43 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:46:18,540 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
- "2023-12-27 06:46:18,557 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
- "2023-12-27 06:46:18,558 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/nuboard.py:84} Opening Bokeh application on http://localhost:5006/\n",
- "2023-12-27 06:46:18,558 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/nuboard.py:85} Async rendering is set to: True\n",
- "2023-12-27 06:46:18,558 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/server.py:403} Starting Bokeh server version 2.4.3 (running on Tornado 6.3.3)\n",
- "2023-12-27 06:46:18,558 WARNING {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/util.py:145} Host wildcard '*' will allow connections originating from multiple (or possibly all) hostnames or IPs. Use non-wildcard values to restrict access explicitly\n",
- "2023-12-27 06:46:18,558 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/tornado.py:360} User authentication hooks NOT provided (default user enabled)\n",
- "2023-12-27 06:46:19,255 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n",
- "2023-12-27 06:46:19,259 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/tabs/scenario_tab.py:485} Rending scenario plot takes 0.0005 seconds.\n",
- "2023-12-27 06:46:19,356 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET / (127.0.0.1) 164.47ms\n"
- ]
- },
- {
- "name": "stderr",
- "output_type": "stream",
- "text": [
- "INFO:tornado.access:200 GET / (127.0.0.1) 164.47ms\n"
- ]
- },
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "2023-12-27 06:46:20,020 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws (127.0.0.1) 0.45ms\n",
- "2023-12-27 06:46:20,020 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/views/ws.py:132} WebSocket connection opened\n",
- "2023-12-27 06:46:20,021 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/views/ws.py:213} ServerConnection created\n"
+ "2023-12-28 03:50:18,149 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
+ "2023-12-28 03:50:18,165 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
+ "2023-12-28 03:50:18,166 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/nuboard.py:84} Opening Bokeh application on http://localhost:5006/\n",
+ "2023-12-28 03:50:18,166 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/nuboard.py:85} Async rendering is set to: True\n",
+ "2023-12-28 03:50:18,166 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/server.py:403} Starting Bokeh server version 2.4.3 (running on Tornado 6.3.3)\n",
+ "2023-12-28 03:50:18,167 WARNING {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/util.py:145} Host wildcard '*' will allow connections originating from multiple (or possibly all) hostnames or IPs. Use non-wildcard values to restrict access explicitly\n",
+ "2023-12-28 03:50:18,167 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/tornado.py:360} User authentication hooks NOT provided (default user enabled)\n",
+ "2023-12-28 03:50:18,875 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n",
+ "2023-12-28 03:50:18,879 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/tabs/scenario_tab.py:485} Rending scenario plot takes 0.0005 seconds.\n",
+ "2023-12-28 03:50:18,975 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET / (127.0.0.1) 165.98ms\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "INFO:tornado.access:101 GET /ws (127.0.0.1) 0.45ms\n"
+ "INFO:tornado.access:200 GET / (127.0.0.1) 165.98ms\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-27 06:46:20,254 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n",
- "2023-12-27 06:46:20,258 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/tabs/scenario_tab.py:485} Rending scenario plot takes 0.0005 seconds.\n",
- "2023-12-27 06:46:20,349 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET / (127.0.0.1) 154.43ms\n"
+ "2023-12-28 03:50:19,639 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws (127.0.0.1) 0.44ms\n",
+ "2023-12-28 03:50:19,639 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/views/ws.py:132} WebSocket connection opened\n",
+ "2023-12-28 03:50:19,639 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/bokeh/server/views/ws.py:213} ServerConnection created\n",
+ "2023-12-28 03:50:19,716 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n",
+ "2023-12-28 03:50:19,720 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/tabs/scenario_tab.py:485} Rending scenario plot takes 0.0005 seconds.\n",
+ "2023-12-28 03:50:19,811 INFO {/home/ehdykhne/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET / (127.0.0.1) 154.23ms\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "INFO:tornado.access:200 GET / (127.0.0.1) 154.43ms\n",
- "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 13.80it/s]\n"
- ]
- },
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "2023-12-27 06:47:41,618 INFO {/home/ehdykhne/nuplan-devkit/nuplan/planning/nuboard/tabs/scenario_tab.py:485} Rending scenario plot takes 2.5583 seconds.\n"
+ "INFO:tornado.access:101 GET /ws (127.0.0.1) 0.44ms\n",
+ "INFO:tornado.access:200 GET / (127.0.0.1) 154.23ms\n"
]
}
],
diff --git a/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py b/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py
index 39360d1..203a075 100644
--- a/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py
+++ b/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py
@@ -51,21 +51,17 @@ class AbstractOcclusionManager(metaclass=ABCMeta):
ego_state_buffer = input_buffer.ego_state_buffer
observations_buffer = input_buffer.observation_buffer
sample_interval = input_buffer.sample_interval
- # start = time.time()
+
for ego_state, observations in zip(ego_state_buffer, observations_buffer):
if ego_state.time_us not in self._visible_agent_cache:
self._visible_agent_cache[ego_state.time_us] = self._compute_visible_agents(ego_state, observations)
- # timeV = time.time() - start
- # print('V',timeV)
- # ######################################################################################################################### changes
- # start = time.time()
+
current_time_seconds = ego_state_buffer[-1].time_seconds
assert len(ego_state_buffer) * input_buffer.sample_interval >= self.uncloak_reaction_time, "SimulationHistoryBuffer must be at least as long as uncloak reaction time."
for i, (ego_state, observations) in enumerate(zip(ego_state_buffer, observations_buffer)):#we loop through to find the first timestep inside the uncloak_reaction_time
if ego_state.time_us not in self._noticed_agent_cache: #we only enter here at the begining of the simulation to determine the noticed cache of the history
for j, ego_state_c in enumerate(ego_state_buffer): #this for loop only exists to find the right index
if ego_state.time_seconds - ego_state_c.time_seconds <= self.uncloak_reaction_time: #this will eventually be true
- #print('hi!!!!!!!!!!!!!!!!!!!!!!!!!!!')
self._compute_noticed_agents(input_buffer.sample_interval,
deque(itertools.islice(ego_state_buffer, j, i + 1)),
deque(itertools.islice(observations_buffer, j, i + 1))) #this is only run once per state not in the noticed_agents_cache
@@ -76,10 +72,7 @@ class AbstractOcclusionManager(metaclass=ABCMeta):
deque(itertools.islice(ego_state_buffer, i, None)),
deque(itertools.islice(observations_buffer, i, None))) #this only gets run once since it breaks out of the loop immedietly afterwards
break
- ####################################################################################################################################
- # timeN = time.time() - start
- # print('N', timeN)
- # print('N/V', timeN/timeV)
+
output_buffer = SimulationHistoryBuffer(ego_state_buffer, \
deque([self._mask_input(ego_state.time_us, observations) for ego_state, observations in zip(ego_state_buffer, observations_buffer)]), \
sample_interval)
--
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