format

metadrive/component/vehicle/base_vehicle.py

@@ -110,12 +110,12 @@ class BaseVehicle(BaseObject, BaseVehicleState):
     path = None
 
     def __init__(
-            self,
-            vehicle_config: Union[dict, Config] = None,
-            name: str = None,
-            random_seed=None,
-            position=None,
-            heading=None
+        self,
+        vehicle_config: Union[dict, Config] = None,
+        name: str = None,
+        random_seed=None,
+        position=None,
+        heading=None
     ):
         """
         This Vehicle Config is different from self.get_config(), and it is used to define which modules to use, and
@@ -266,14 +266,14 @@ def _update_energy_consumption(self):
         return step_energy, self.energy_consumption
 
     def reset(
-            self,
-            vehicle_config=None,
-            name=None,
-            random_seed=None,
-            position: np.ndarray = None,
-            heading: float = 0.0,
-            *args,
-            **kwargs
+        self,
+        vehicle_config=None,
+        name=None,
+        random_seed=None,
+        position: np.ndarray = None,
+        heading: float = 0.0,
+        *args,
+        **kwargs
     ):
         """
         pos is a 2-d array, and heading is a float (unit degree)
@@ -529,8 +529,8 @@ def heading_diff(self, target_lane):
         if not lateral_norm * forward_direction_norm:
             return 0
         cos = (
-                (forward_direction[0] * lateral[0] + forward_direction[1] * lateral[1]) /
-                (lateral_norm * forward_direction_norm)
+            (forward_direction[0] * lateral[0] + forward_direction[1] * lateral[1]) /
+            (lateral_norm * forward_direction_norm)
         )
         # return cos
         # Normalize to 0, 1
@@ -850,7 +850,7 @@ def _update_overtake_stat(self):
             ckpt_idx = routing._target_checkpoints_index
             for surrounding_v in surrounding_vs:
                 if surrounding_v.lane_index[:-1] == (routing.checkpoints[ckpt_idx[0]], routing.checkpoints[ckpt_idx[1]
-                ]):
+                                                                                                           ]):
                     if self.lane.local_coordinates(self.position)[0] - \
                             self.lane.local_coordinates(surrounding_v.position)[0] < 0:
                         self.front_vehicles.add(surrounding_v)
@@ -885,9 +885,9 @@ def overspeed(self):
     @property
     def replay_done(self):
         return self._replay_done if hasattr(self, "_replay_done") else (
-                self.crash_building or self.crash_vehicle or
-                # self.on_white_continuous_line or
-                self.on_yellow_continuous_line
+            self.crash_building or self.crash_vehicle or
+            # self.on_white_continuous_line or
+            self.on_yellow_continuous_line
         )
 
     @property

metadrive/envs/base_env.py

@@ -151,7 +151,7 @@
     #         )
     # These sensors will be constructed automatically and can be accessed in engine.get_sensor("sensor_name")
     # NOTE: main_camera will be added automatically if you are using offscreen/onscreen mode
-    sensors=dict(lidar=(Lidar, 50), side_detector=(SideDetector,), lane_line_detector=(LaneLineDetector,)),
+    sensors=dict(lidar=(Lidar, 50), side_detector=(SideDetector, ), lane_line_detector=(LaneLineDetector, )),
 
     # when main_camera is not the image_source for vehicle, reduce the window size to (1,1) for boosting efficiency
     auto_resize_window=True,
@@ -296,7 +296,7 @@ def _post_process_config(self, config):
         if not config["render_pipeline"]:
             for panel in config["interface_panel"]:
                 if panel == "dashboard":
-                    config["sensors"]["dashboard"] = (VehiclePanel,)
+                    config["sensors"]["dashboard"] = (VehiclePanel, )
                 if panel not in config["sensors"]:
                     self.logger.warning(
                         "Fail to add sensor: {} to the interface. Remove it from panel list!".format(panel)
@@ -712,20 +712,19 @@ def episode_step(self):
         return self.engine.episode_step if self.engine is not None else 0
 
     def export_scenarios(
-            self,
-            policies: Union[dict, Callable],
-            scenario_index: Union[list, int],
-            max_episode_length=None,
-            verbose=False,
-            suppress_warning=False,
-            render_topdown=False,
-            return_done_info=True,
-            to_dict=True
+        self,
+        policies: Union[dict, Callable],
+        scenario_index: Union[list, int],
+        max_episode_length=None,
+        verbose=False,
+        suppress_warning=False,
+        render_topdown=False,
+        return_done_info=True,
+        to_dict=True
     ):
         """
         We export scenarios into a unified format with 10hz sample rate
         """
-
         def _act(observation):
             if isinstance(policies, dict):
                 ret = {}

metadrive/envs/scenario_env.py

@@ -243,8 +243,8 @@ def msg(reason):
         # for compatibility
         # crash almost equals to crashing with vehicles
         done_info[TerminationState.CRASH] = (
-                done_info[TerminationState.CRASH_VEHICLE] or done_info[TerminationState.CRASH_OBJECT]
-                or done_info[TerminationState.CRASH_BUILDING]
+            done_info[TerminationState.CRASH_VEHICLE] or done_info[TerminationState.CRASH_OBJECT]
+            or done_info[TerminationState.CRASH_BUILDING]
         )
 
         # log data to curriculum manager

metadrive/manager/scenario_traffic_manager.py

@@ -197,14 +197,12 @@ def spawn_vehicle(self, v_id, track):
             v_cfg["top_down_length"] = track["state"]["length"][self.episode_step]
             v_cfg["top_down_width"] = track["state"]["width"][self.episode_step]
             if v_cfg["top_down_length"] < 1 or v_cfg["top_down_width"] < 0.5:
-                logger.warning("Scenario ID: {}. The top_down size of vehicle {} is weird: "
-                               "{}".format(self.engine.current_seed, v_id, [v_cfg["length"], v_cfg["width"]]))
+                logger.warning(
+                    "Scenario ID: {}. The top_down size of vehicle {} is weird: "
+                    "{}".format(self.engine.current_seed, v_id, [v_cfg["length"], v_cfg["width"]])
+                )
         v = self.spawn_object(
-            vehicle_class,
-            position=state["position"],
-            heading=state["heading"],
-            vehicle_config=v_cfg,
-            name=obj_name
+            vehicle_class, position=state["position"], heading=state["heading"], vehicle_config=v_cfg, name=obj_name
         )
         self._scenario_id_to_obj_id[v_id] = v.name
         self._obj_id_to_scenario_id[v.name] = v_id

metadrive/obs/top_down_obs_impl.py

@@ -197,8 +197,14 @@ class ObjectGraphics:
 
     @classmethod
     def display(
-            cls, object: history_object, surface, color, heading, label: bool = False, draw_countour=False,
-            contour_width=1
+        cls,
+        object: history_object,
+        surface,
+        color,
+        heading,
+        label: bool = False,
+        draw_countour=False,
+        contour_width=1
     ) -> None:
         """
         Display a vehicle on a pygame surface.

metadrive/obs/top_down_renderer.py

@@ -21,7 +21,6 @@
 color_white = (255, 255, 255)
 
 
-
 def draw_top_down_map(
     map,
     resolution: Iterable = (512, 512),
@@ -415,9 +414,7 @@ def _draw(self, *args, **kwargs):
                     c = TopDownSemanticColor.get_color(v.type, True) * (1 - alpha_f) + alpha_f * 255
                 else:
                     c = (c[0] + alpha_f * (255 - c[0]), c[1] + alpha_f * (255 - c[1]), c[2] + alpha_f * (255 - c[2]))
-                ObjectGraphics.display(
-                    object=v, surface=self._runtime_canvas, heading=h, color=c, draw_countour=False
-                )
+                ObjectGraphics.display(object=v, surface=self._runtime_canvas, heading=h, color=c, draw_countour=False)
 
         # Draw the whole trajectory of ego vehicle with no gradient colors:
         if self.draw_target_vehicle_trajectory: