diff --git a/experiments/test_notebook.ipynb b/experiments/test_notebook.ipynb
index 6e9d00ef29571bbd74716b5ae3632df9ff3e8e94..abdac83a20cbc5d21ca0d07a75913a66e2e09e37 100644
--- a/experiments/test_notebook.ipynb
+++ b/experiments/test_notebook.ipynb
@@ -26,7 +26,7 @@
"name": "stderr",
"output_type": "stream",
"text": [
- "/tmp/ipykernel_182532/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
+ "/tmp/ipykernel_187055/4095267831.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"
]
}
@@ -137,7 +137,7 @@
},
{
"cell_type": "code",
- "execution_count": 19,
+ "execution_count": 4,
"id": "11b08c6d",
"metadata": {},
"outputs": [],
@@ -173,7 +173,7 @@
" f\"planner.pdm_hybrid_planner.checkpoint_path={hybrid_ckpt}\" ,\n",
" 'observation.model_config=${model}',\n",
" f'observation.checkpoint_path={ckpt_dir}',\n",
- " f'observation.planner_type=pdm_hybrid',\n",
+ " f'observation.planner_type=idm',\n",
" f'observation.pdm_hybrid_ckpt={hybrid_ckpt}',\n",
" f'observation.occlusions=true',\n",
" 'worker=sequential',\n",
@@ -186,7 +186,7 @@
},
{
"cell_type": "code",
- "execution_count": 20,
+ "execution_count": 5,
"id": "161cc166",
"metadata": {
"scrolled": true
@@ -196,73 +196,43 @@
"name": "stderr",
"output_type": "stream",
"text": [
- "Global seed set to 0\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"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-22 01:30:59,903 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:20} Building MultiMainCallback...\n",
- "2023-12-22 01:30:59,903 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:20} Building MultiMainCallback...\n",
- "2023-12-22 01:30:59,933 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:35} Building MultiMainCallback: 4...DONE!\n",
- "2023-12-22 01:30:59,933 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:35} Building MultiMainCallback: 4...DONE!\n",
- "2023-12-22 01:31:00,169 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
- "2023-12-22 01:31:00,169 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
- "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
- "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
- "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
+ "2023-12-22 02:28:15,284 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
+ "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
+ "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
- "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
- "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
- "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
- "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
- "\n",
- "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.22.01.30.59\n",
- "\n",
- "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
+ "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
+ "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
+ "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
"\n",
- "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.22.01.30.59\n",
+ "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.22.02.28.14\n",
"\n",
- "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
- "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
- "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
- "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
- "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
- "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
- "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
- "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
- "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
- "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
- "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
- "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
- "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
- "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
- "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
- "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
- "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
- "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
- "2023-12-22 01:31:00,198 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
- "2023-12-22 01:31:00,198 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
- "2023-12-22 01:31:00,218 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
- "2023-12-22 01:31:00,218 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
- "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
- "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
- "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
- "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
- "2023-12-22 01:31:00,354 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18} Building TorchModuleWrapper...\n",
- "2023-12-22 01:31:00,354 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18} Building TorchModuleWrapper...\n",
- "2023-12-22 01:31:00,383 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21} Building TorchModuleWrapper...DONE!\n",
- "2023-12-22 01:31:00,383 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21} Building TorchModuleWrapper...DONE!\n",
- "2023-12-22 01:31:00,505 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n",
- "2023-12-22 01:31:00,505 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n"
+ "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
+ "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
+ "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
+ "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
+ "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
+ "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
+ "2023-12-22 02:28:15,289 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
+ "2023-12-22 02:28:15,302 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
+ "2023-12-22 02:28:15,302 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
+ "2023-12-22 02:28:15,303 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
+ "2023-12-22 02:28:15,322 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
+ "2023-12-22 02:28:15,352 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
+ "2023-12-22 02:28:15,352 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
+ "2023-12-22 02:28:15,506 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18} Building TorchModuleWrapper...\n",
+ "2023-12-22 02:28:15,547 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21} Building TorchModuleWrapper...DONE!\n",
+ "2023-12-22 02:28:16,201 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n"
]
}
],
@@ -276,7 +246,7 @@
},
{
"cell_type": "code",
- "execution_count": 21,
+ "execution_count": 6,
"id": "223284d4",
"metadata": {},
"outputs": [],
@@ -286,7 +256,7 @@
},
{
"cell_type": "code",
- "execution_count": 22,
+ "execution_count": 7,
"id": "907ad940",
"metadata": {},
"outputs": [],
@@ -307,7 +277,7 @@
},
{
"cell_type": "code",
- "execution_count": 23,
+ "execution_count": 8,
"id": "90b79421",
"metadata": {},
"outputs": [
@@ -316,6 +286,28 @@
"output_type": "stream",
"text": [
"SimulationIteration(time_point=TimePoint(time_us=1623707846350127), index=0)\n",
+ "2023-12-22 02:28:27,237 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:28,208 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:29,094 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:30,074 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:31,080 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:32,985 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:34,668 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:35,448 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:36,250 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:38,638 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:43,540 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:44,367 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:51,440 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:52,331 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:53,206 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:54,967 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:57,304 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:58,116 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:58,881 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:28:59,765 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:29:00,661 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+ "2023-12-22 02:29:01,327 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707846450055), index=1)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707846549980), index=2)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707846649908), index=3)\n",
@@ -326,6 +318,7 @@
"SimulationIteration(time_point=TimePoint(time_us=1623707847149533), index=8)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707847249494), index=9)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707847349489), index=10)\n",
+ "2023-12-22 02:29:31,281 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153} IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707847449511), index=11)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707847549545), index=12)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707847649595), index=13)\n",
@@ -376,7 +369,69 @@
"SimulationIteration(time_point=TimePoint(time_us=1623707852149873), index=58)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707852249912), index=59)\n",
"SimulationIteration(time_point=TimePoint(time_us=1623707852349958), index=60)\n",
- "SimulationIteration(time_point=TimePoint(time_us=1623707852450015), index=61)\n"
+ "SimulationIteration(time_point=TimePoint(time_us=1623707852450015), index=61)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707852550074), index=62)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707852650134), index=63)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707852750202), index=64)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707852850274), index=65)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707852950341), index=66)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853050396), index=67)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853150437), index=68)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853250455), index=69)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853350458), index=70)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853450447), index=71)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853550423), index=72)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853650396), index=73)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853750371), index=74)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853850348), index=75)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707853950316), index=76)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854050282), index=77)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854150246), index=78)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854250202), index=79)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854350166), index=80)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854450127), index=81)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854550087), index=82)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854650049), index=83)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854750013), index=84)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854849975), index=85)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707854949934), index=86)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855049897), index=87)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855149866), index=88)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855249835), index=89)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855349806), index=90)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855449781), index=91)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855549767), index=92)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855649761), index=93)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855749759), index=94)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855849764), index=95)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707855949781), index=96)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856049800), index=97)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856149811), index=98)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856249820), index=99)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856349835), index=100)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856449843), index=101)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856549842), index=102)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856649840), index=103)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856749839), index=104)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856849830), index=105)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707856949823), index=106)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857049822), index=107)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857149827), index=108)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857249832), index=109)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857349847), index=110)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857449869), index=111)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857549895), index=112)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857649926), index=113)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857749959), index=114)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857849999), index=115)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707857950037), index=116)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858050070), index=117)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858150098), index=118)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858250120), index=119)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858350135), index=120)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858450145), index=121)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858550149), index=122)\n",
+ "SimulationIteration(time_point=TimePoint(time_us=1623707858650146), index=123)\n"
]
}
],
@@ -455,7 +510,7 @@
},
"metadata": {
"application/vnd.bokehjs_exec.v0+json": {
- "server_id": "e02ac0e6136c41bc81ee6791378262dd"
+ "server_id": "15b154fce756424d9ca7e3de9f9760be"
}
},
"output_type": "display_data"
@@ -464,26 +519,26 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-22 01:27:36,238 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,239 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,240 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,240 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,241 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,241 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,241 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,242 INFO {/media/sacardoz/Storage/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",
- "2023-12-22 01:27:36,244 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n"
+ "2023-12-22 01:52:05,312 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,313 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,313 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,314 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,314 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,314 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,315 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,315 INFO {/media/sacardoz/Storage/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",
+ "2023-12-22 01:52:05,318 INFO {/media/sacardoz/Storage/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, 84.37it/s]\n",
+ "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 60.29it/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:5000&resources=none (::1) 919.22ms\n",
+ "INFO:tornado.access:200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5000&resources=none (::1) 846.47ms\n",
"INFO:bokeh.server.views.ws:WebSocket connection opened\n",
- "INFO:tornado.access:101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&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) 0.68ms\n",
+ "INFO:tornado.access:101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&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) 0.64ms\n",
"INFO:bokeh.server.views.ws:ServerConnection created\n"
]
},
@@ -491,9 +546,9 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-22 01:27:37,148 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:5000&resources=none (::1) 919.22ms\n",
- "2023-12-22 01:27:37,155 INFO {/media/sacardoz/Storage/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n",
- "2023-12-22 01:27:37,174 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&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) 0.68ms\n"
+ "2023-12-22 01:52:06,143 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:5000&resources=none (::1) 846.47ms\n",
+ "2023-12-22 01:52:06,157 INFO {/media/sacardoz/Storage/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n",
+ "2023-12-22 01:52:06,158 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&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) 0.64ms\n"
]
}
],
diff --git a/nuplan/planning/simulation/occupancy_map/strtree_occupancy_map.py b/nuplan/planning/simulation/occupancy_map/strtree_occupancy_map.py
index c61a13776fcb1fc55a43daa826a757eb992e4bda..8889691461b8b9e5bac7d7920a6d2e5c0f496899 100644
--- a/nuplan/planning/simulation/occupancy_map/strtree_occupancy_map.py
+++ b/nuplan/planning/simulation/occupancy_map/strtree_occupancy_map.py
@@ -87,7 +87,7 @@ class STRTreeOccupancyMap(OccupancyMap):
:param ignore_id: the key corresponding to the geometry to be skipped
:return: GeometryMap
"""
- return {geom_id: geom for geom_id, geom in self._geom_map.items() if geom_id not in ignore_id}
+ return {geom_id: geom for geom_id, geom in self._geom_map.items() if geom_id != ignore_id}
def _build_strtree(self, ignore_id: Optional[str] = None) -> Tuple[STRtree, Dict[int, str]]:
"""