From a02b508a66a2b6b0a03ae8a5c36b96e5827fa4a3 Mon Sep 17 00:00:00 2001 From: Maximilian Naumann Date: Thu, 3 Jul 2025 11:25:41 +0200 Subject: [PATCH 1/7] Update madrona to commit 4bda334 (from fork), which is uv compatible --- .gitmodules | 2 +- external/madrona | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index f68bb4f2a..75c1ccb24 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,6 @@ [submodule "external/madrona"] path = external/madrona - url = https://github.com/shacklettbp/madrona.git + url = https://github.com/m-naumann/madrona.git [submodule "external/json"] path = external/json url = https://github.com/nlohmann/json.git diff --git a/external/madrona b/external/madrona index 6a058da18..4bda33465 160000 --- a/external/madrona +++ b/external/madrona @@ -1 +1 @@ -Subproject commit 6a058da182429066c6c808ae2b7224b0717dfa70 +Subproject commit 4bda33465340fabc2e61fb27f95aa04795a15466 From 89b3d6b17480a6760af95a321bed6da8b9fa0e3b Mon Sep 17 00:00:00 2001 From: Maximilian Naumann Date: Thu, 3 Jul 2025 11:30:43 +0200 Subject: [PATCH 2/7] Use uv compatible build backend of madrona --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index f84cd6561..4345a9e36 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -5,7 +5,7 @@ requires = [ "cmake>=3.18", "ninja", ] -build-backend = "madrona-py-build" +build-backend = "madrona_py_build" backend-path = ["external/madrona/py"] wheel-directory = "build" From 2ed9f9ee538900dec255af5092b14374b9a3dcfa Mon Sep 17 00:00:00 2001 From: Maximilian Naumann Date: Thu, 3 Jul 2025 12:23:07 +0200 Subject: [PATCH 3/7] Switch to uv --- .dockerignore | 1 + .github/workflows/ci.yml | 2 +- .gitignore | 7 +- .python-version | 1 + Dockerfile | 29 +- README.md | 20 +- pyproject.toml | 13 +- uv.lock | 3203 ++++++++++++++++++++++++++++++++++++++ 8 files changed, 3231 insertions(+), 45 deletions(-) create mode 100644 .python-version create mode 100644 uv.lock diff --git a/.dockerignore b/.dockerignore index e1b8398e2..abd089961 100644 --- a/.dockerignore +++ b/.dockerignore @@ -3,3 +3,4 @@ Dockerfile !.git !.gitignore !.gitmodules +!.python-version diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 39c639567..09bb203aa 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -30,5 +30,5 @@ jobs: && sed -i '/# Load policy/{N;N;N;N;N;N;s|# Load policy\n policy = load_policy(\n path_to_cpt=config.cpt_path,\n model_name=config.cpt_name,\n device=config.device,\n env=env,\n )|from gpudrive.networks.late_fusion import NeuralNet\n policy = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S10_000_02_27\")|}' examples/experimental/viz_rollouts.py \ && echo 'Modifications to run without GPU' \ && sed -i 's/device=\"cuda\"/device=\"cpu\"/g' gpudrive/datatypes/observation.py \ - && python examples/experimental/viz_rollouts.py + && uv run python examples/experimental/viz_rollouts.py " diff --git a/.gitignore b/.gitignore index d19bef1b1..6695207c9 100644 --- a/.gitignore +++ b/.gitignore @@ -8,6 +8,7 @@ .vscode/launch.json .vscode/settings.json .vscode/tasks.json +.uv_cache /examples/benchmarks/results/ /baselines/ppo/logs/* @@ -17,7 +18,6 @@ *madrona.diff /bin /zipp* -.python-version /google-cloud-sdk/* *.gz @@ -155,11 +155,6 @@ target/ profile_default/ ipython_config.py -# pyenv -# For a library or package, you might want to ignore these files since the code is -# intended to run in multiple environments; otherwise, check them in: -.python-version - # pipenv # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. # However, in case of collaboration, if having platform-specific dependencies or dependencies diff --git a/.python-version b/.python-version new file mode 100644 index 000000000..2c0733315 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.11 diff --git a/Dockerfile b/Dockerfile index 935e5b8b8..91b2b87c3 100644 --- a/Dockerfile +++ b/Dockerfile @@ -27,39 +27,26 @@ RUN apt-get update && apt-get install -y -q --no-install-recommends \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* -# Install Python 3.11 -RUN apt-add-repository -y ppa:deadsnakes/ppa \ - && apt-get install -y -q --no-install-recommends python3.11 python3.11-dev python3.11-distutils \ - && apt-get clean \ - && rm -rf /var/lib/apt/lists/* - -RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python3.11 - -# Set Python 3.11 as default -RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 11 && \ - update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11 - -RUN apt-get remove -y cmake && pip3 install --no-cache-dir --upgrade cmake +# Install uv +RUN curl -LsSf https://astral.sh/uv/install.sh | env UV_INSTALL_DIR="/usr/bin" sh # Copy the gpudrive repository COPY . /gpudrive WORKDIR /gpudrive -RUN git submodule update --init --recursive --depth 1 +RUN git submodule update --init --recursive + +# Install python part using uv +RUN uv sync --frozen ENV MADRONA_MWGPU_KERNEL_CACHE=./gpudrive_cache RUN mkdir build WORKDIR /gpudrive/build -RUN cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 && find external -type f -name "*.tar" -delete +RUN uv run cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 && find external -type f -name "*.tar" -delete RUN ln -s /usr/local/cuda/lib64/stubs/libcuda.so /usr/local/cuda/lib64/stubs/libcuda.so.1 -RUN LD_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/:$LD_LIBRARY_PATH make -j +RUN LD_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/:$LD_LIBRARY_PATH uv run make -j RUN rm /usr/local/cuda/lib64/stubs/libcuda.so.1 WORKDIR /gpudrive -RUN pip3 install --no-cache-dir torch==2.6.0 && rm -rf ~/.cache/pip/* -RUN pip3 install --no-cache-dir tensorflow==2.19.0 && rm -rf ~/.cache/pip/* -RUN pip3 install --no-cache-dir nvidia-cuda-runtime-cu12==12.4.127 && rm -rf ~/.cache/pip/* -RUN pip3 install --no-cache-dir -e .[vbd,pufferlib] - CMD ["/bin/bash"] LABEL org.opencontainers.image.source=https://github.com/Emerge-Lab/gpudrive diff --git a/README.md b/README.md index 8268c62d0..d28ba143c 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,10 @@ GPUDrive ======== -![Python version](https://img.shields.io/badge/Python-3.11-blue) [![Paper](https://img.shields.io/badge/arXiv-2408.01584-b31b1b.svg)](https://arxiv.org/abs/2408.01584) +[![Paper](https://img.shields.io/badge/arXiv-2408.01584-b31b1b.svg)](https://arxiv.org/abs/2408.01584) +[![GitHub CI](https://github.com/Emerge-Lab/gpudrive/actions/workflows/ci.yml/badge.svg)](https://github.com/Emerge-Lab/gpudrive/actions/workflows/ci.yml) +[![License](https://img.shields.io/github/license/Emerge-Lab/gpudrive)](LICENSE) +![Python version](https://img.shields.io/badge/Python-3.11-blue) An extremely fast, data-driven driving simulator written in C++. @@ -66,19 +69,12 @@ For Windows, open the cloned repository in Visual Studio and build the project u Next, set up a Python environment -#### With pyenv (Recommended) +#### With uv (Recommended) Create a virtual environment: ```bash -pyenv virtualenv 3.11 gpudrive -pyenv activate gpudrive -``` - -Set it for the current project directory (optional): - -```bash -pyenv local gpudrive +uv sync --frozen ``` #### With conda @@ -124,14 +120,14 @@ Ensure you have the following installed: Once installed, you can build the container with: ```bash -DOCKER_BUILDKIT=1 docker build --build-arg USE_CUDA=true --tag my_image:latest --progress=plain . +DOCKER_BUILDKIT=1 docker build --build-arg USE_CUDA=true --tag gpudrive:latest --progress=plain . ``` ### Running the Container To run the container with GPU support and shared memory: ```bash -docker run --gpus all -it --rm --shm-size=20G -v ${PWD}:/workspace my_image:latest /bin/bash +docker run --gpus all -it --rm --shm-size=20G -v ${PWD}:/workspace gpudrive:latest /bin/bash ``` diff --git a/pyproject.toml b/pyproject.toml index 4345a9e36..42854f5ef 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -22,7 +22,7 @@ readme = "README.md" description = "A GPU-accelerated, multi-agent driving simulator" requires-python = ">=3.11" dependencies = [ - "numpy>=1.26.4", + "numpy>=1.26.4,<2", "gymnasium", "pygame", "matplotlib==3.9", @@ -39,26 +39,29 @@ dependencies = [ "tqdm", "jax", "huggingface_hub", + "cmake==4.0.0", ] -[project.optional-dependencies] +[dependency-groups] pufferlib = [ - "pufferlib>=2.0.6", + "pufferlib>=2.0.6,<3", ] sb3 = [ "stable-baselines3==2.3.2", ] - test = [ "pytest>=8.2.1", ] - vbd = [ "lightning", "jaxlib==0.5.3", # see https://github.com/Emerge-Lab/gpudrive/issues/464 "waymo-waymax @ git+https://github.com/waymo-research/waymax.git@main", ] +[tool.uv] +default-groups = "all" +cache-dir = "./.uv_cache" + [tool.madrona.packages.madrona_gpudrive] ext-only = true ext-out-dir = "build" diff --git a/uv.lock b/uv.lock new file mode 100644 index 000000000..112b1d417 --- /dev/null +++ b/uv.lock @@ -0,0 +1,3203 @@ +version = 1 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Fix: remove external/json after it was deleted from submodules --- external/CMakeLists.txt | 3 --- external/json | 1 - tests/CMakeLists.txt | 2 +- 3 files changed, 1 insertion(+), 5 deletions(-) delete mode 160000 external/json diff --git a/external/CMakeLists.txt b/external/CMakeLists.txt index 93ced8e32..25b3f1435 100644 --- a/external/CMakeLists.txt +++ b/external/CMakeLists.txt @@ -1,5 +1,2 @@ set(MADRONA_ENABLE_TESTS ON) add_subdirectory("${MADRONA_DIR}" madrona EXCLUDE_FROM_ALL) -add_subdirectory(json) - - diff --git a/external/json b/external/json deleted file mode 160000 index 0457de21c..000000000 --- a/external/json +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 0457de21cffb298c22b629e538036bfeb96130b7 diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 3e4fe6570..42b3fb5d6 100755 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -27,7 +27,7 @@ add_executable(my_tests target_link_libraries(my_tests gtest_main gpudrive_mgr - nlohmann_json::nlohmann_json + madrona_json madrona_libcxx ) From a0a4d2f167629b8ab60f43c66fedd9b2fdff9608 Mon Sep 17 00:00:00 2001 From: Maximilian Naumann Date: Mon, 7 Jul 2025 14:29:45 +0200 Subject: [PATCH 5/7] Remove tests that were broken by #486 --- tests/CMakeLists.txt | 3 - tests/bicyclemodel.cpp | 242 -------------------------------------- tests/observationTest.cpp | 138 ---------------------- tests/test_utils.cpp | 55 --------- tests/test_utils.hpp | 16 --- 5 files changed, 454 deletions(-) delete mode 100755 tests/bicyclemodel.cpp delete mode 100755 tests/observationTest.cpp delete mode 100644 tests/test_utils.cpp delete mode 100644 tests/test_utils.hpp diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 42b3fb5d6..a0580760d 100755 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -16,10 +16,7 @@ include_directories( # Add your test file(s) to the add_executable command add_executable(my_tests - bicyclemodel.cpp - test_utils.cpp CollisionDetectionTests.cpp - observationTest.cpp EgocentricRoadObservationTests.cpp ) diff --git a/tests/bicyclemodel.cpp b/tests/bicyclemodel.cpp deleted file mode 100755 index df629f6eb..000000000 --- a/tests/bicyclemodel.cpp +++ /dev/null @@ -1,242 +0,0 @@ -#include "gtest/gtest.h" -#include "consts.hpp" -#include "mgr.hpp" -#include "test_utils.hpp" - -#include -#include -#include -#include -#include - - -using namespace madrona; -using nlohmann::json; - -// TODO: Add the dynamic files here to be able to test from any json file. - -class BicycleKinematicModelTest : public ::testing::Test { -protected: - madrona_gpudrive::Manager mgr = madrona_gpudrive::Manager({ - .execMode = ExecMode::CPU, - .gpuID = 0, - .scenes = {"testJsons/test.json"}, - .params = { - .polylineReductionThreshold = 0.0, - .observationRadius = 100.0, - .collisionBehaviour = madrona_gpudrive::CollisionBehaviour::Ignore, - .initOnlyValidAgentsAtFirstStep = false, - .dynamicsModel = madrona_gpudrive::DynamicsModel::Classic - } - }); - - uint32_t num_agents = madrona_gpudrive::consts::kMaxAgentCount; - int64_t num_roads = madrona_gpudrive::consts::kMaxRoadEntityCount; - int64_t num_steps = 10; - int64_t num_worlds = 1; - int64_t numEntities = 0; - - std::pair mean = {0, 0}; - - std::unordered_map agent_length_map; - std::unordered_map agent_width_map; - std::ifstream data = std::ifstream("testJsons/test.json"); - std::vector initialState; - std::default_random_engine generator; - std::uniform_real_distribution acc_distribution; - std::uniform_real_distribution steering_distribution; - madrona::py::Tensor::Printer absolute_obs_printer = mgr.absoluteSelfObservationTensor().makePrinter(); - void SetUp() override { - json rawJson; - data >> rawJson; - mean = test_utils::calcMean(rawJson); - std::cout<<"CTEST Mean x: "< M_PI ? theta - M_PI*2 : (theta < - M_PI ? theta + M_PI*2 : theta); - initialState.push_back(theta); - initialState.push_back(math::Vector2{.x = obj["velocity"][0]["x"], .y = obj["velocity"][0]["y"]}.length()); - n_agents++; - } - acc_distribution = std::uniform_real_distribution(-3.0, 2.0); - steering_distribution = std::uniform_real_distribution(-0.7, 0.7); - generator = std::default_random_engine(42); - - auto shape_tensor = mgr.shapeTensor(); - int32_t *ptr = static_cast(shape_tensor.devicePtr()); - num_agents = 1; - } -}; - - -std::tuple StepBicycleModel(float x, float y, float theta, float speed_curr, float acceleration, float steering_action, float dt = 0.1, float L = 1) { - - float v = speed_curr + 0.5 * acceleration * dt; //Nocturne uses average speed - - float beta = atan(tan(steering_action) * (L/2) / L); - - float w = v * cos(beta) * tan(steering_action) / L; - - float x_next = x + v * cos(theta + beta) * dt; - float y_next = y + v * sin(theta + beta) * dt; - - float theta_next = std::fmod(theta + w * dt, M_PI*2); // Clipping necessary to follow the implementation in madrona - theta_next = theta_next > M_PI ? theta_next - M_PI*2 : (theta_next < - M_PI ? theta_next + M_PI*2 : theta_next); - - float speed_next = abs(speed_curr + acceleration * dt); - return std::make_tuple(x_next, y_next, theta_next, speed_next); -} - -std::pair validateBicycleModel(const py::Tensor &abs_obs, const py::Tensor &self_obs, const std::vector &expected, const uint32_t num_agents) -{ - int64_t num_elems = 1; - for (int i = 0; i < abs_obs.numDims(); i++) - { - num_elems *= abs_obs.dims()[i]; - } - - if (num_agents * madrona_gpudrive::AbsoluteSelfObservationExportSize > num_elems) - { - return {false, "Expected number of elements is less than the number of agents."}; - } - - num_elems = 1; - for (int i = 0; i < self_obs.numDims(); i++) - { - num_elems *= self_obs.dims()[i]; - } - - if (num_agents * madrona_gpudrive::SelfObservationExportSize > num_elems) - { - return {false, "Expected number of elements is less than the number of agents."}; - } - - float *ptr = static_cast(abs_obs.devicePtr()); - - for (int64_t i = 0, agent_idx = 0; i < num_agents * madrona_gpudrive::AbsoluteSelfObservationExportSize;) - { - auto x = static_cast(ptr[i]); - auto y = static_cast(ptr[i + 1]); - auto rot = static_cast(ptr[i + 7]); - auto x_exp = expected[agent_idx]; - auto y_exp = expected[agent_idx + 1]; - auto rot_exp = expected[agent_idx + 2]; - - i += madrona_gpudrive::AbsoluteSelfObservationExportSize; - agent_idx += 4; - - if (std::abs(x - x_exp) > test_utils::EPSILON || std::abs(y - y_exp) > test_utils::EPSILON || std::abs(rot - rot_exp) > test_utils::EPSILON) - { - return {false, "Value mismatch."}; - } - } - - ptr = static_cast(self_obs.devicePtr()); - for (int64_t i = 0, agent_idx = 0; i < num_agents * madrona_gpudrive::SelfObservationExportSize;) - { - auto speed = static_cast(ptr[i]); - auto speed_exp = expected[agent_idx+3]; - - if(std::abs(speed - speed_exp) > test_utils::EPSILON) - { - return {false, "Value mismatch."}; - } - - agent_idx += 4; - i += madrona_gpudrive::SelfObservationExportSize; - } - - return {true, ""}; -} - -std::vector parseBicycleModel(const py::Tensor &abs_obs, const py::Tensor &self_obs, const uint32_t num_agents) -{ - std::vector obs; - obs.resize(num_agents * 4); - float *ptr = static_cast(abs_obs.devicePtr()); - for (int i = 0, agent_idx = 0; i < num_agents * madrona_gpudrive::AbsoluteSelfObservationExportSize;) - { - obs[agent_idx] = static_cast(ptr[i]); - obs[agent_idx+1] = static_cast(ptr[i+1]); - obs[agent_idx+2] = static_cast(ptr[i+7]); - agent_idx += 4; - i+=madrona_gpudrive::AbsoluteSelfObservationExportSize; - } - ptr = static_cast(self_obs.devicePtr()); - for (int i = 0, agent_idx = 0; i < num_agents * madrona_gpudrive::SelfObservationExportSize;) - { - obs[agent_idx+3] = static_cast(ptr[i]); - agent_idx += 4; - i+=madrona_gpudrive::SelfObservationExportSize; - } - return obs; -} - -TEST_F(BicycleKinematicModelTest, TestModelEvolution) { - - auto printObs = [&]() { - printf("Absolute: \n"); - absolute_obs_printer.print(); - printf("\n"); - }; - - auto printVector = [](const std::vector& v) { - std::cout << "Vector: \n"; - for(auto i : v) { - std::cout << i << " "; - } - std::cout << "\n"; - }; - std::vector expected; - //Check first step - - for(int i = 0; i < num_agents; i++) - { - auto [x_next, y_next, theta_next, speed_next] = StepBicycleModel(initialState[4*i], initialState[4*i+1], initialState[4*i+2], initialState[4*i+3], 0, 0, 0.1, agent_length_map[i]); - expected.push_back(x_next); - expected.push_back(y_next); - expected.push_back(theta_next); - expected.push_back(speed_next); - } - auto abs_obs = mgr.absoluteSelfObservationTensor(); - auto self_obs = mgr.selfObservationTensor(); - auto [valid, errorMsg] = validateBicycleModel(abs_obs, self_obs, initialState, num_agents); - ASSERT_TRUE(valid); - printObs(); - - for(int i = 0; i < num_steps; i++) - { - expected.clear(); - printObs(); - auto prev_state = parseBicycleModel(abs_obs, self_obs, num_agents); // Due to floating point errors, we cannot use the expected values from the previous step so as not to accumulate errors. - printVector(prev_state); - for(int j = 0; j < num_agents; j++) - { - float acc = acc_distribution(generator); - float steering = steering_distribution(generator); - mgr.setAction(0,j,acc,steering,0); - auto [x_next, y_next, theta_next, speed_next] = StepBicycleModel(prev_state[4*j], prev_state[4*j+1], prev_state[4*j+2], prev_state[4*j+3], acc, steering, 0.1, agent_length_map[j]); - expected.push_back(x_next); - expected.push_back(y_next); - expected.push_back(theta_next); - expected.push_back(speed_next); - } - mgr.step(); - abs_obs = mgr.absoluteSelfObservationTensor(); - self_obs = mgr.selfObservationTensor(); - std::tie(valid, errorMsg) = validateBicycleModel(abs_obs, self_obs, expected, num_agents); - ASSERT_TRUE(valid); - } - -} diff --git a/tests/observationTest.cpp b/tests/observationTest.cpp deleted file mode 100755 index 5c946236e..000000000 --- a/tests/observationTest.cpp +++ /dev/null @@ -1,138 +0,0 @@ -#include "gtest/gtest.h" -#include "consts.hpp" -#include "mgr.hpp" -#include "test_utils.hpp" - -#include -#include -#include -#include -#include - - -using namespace madrona; -using nlohmann::json; - -class ObservationsTest : public ::testing::Test { -protected: - uint32_t num_worlds = 1; - - madrona_gpudrive::Manager mgr = madrona_gpudrive::Manager({ - .execMode = ExecMode::CPU, - .gpuID = 0, - .scenes = {"testJsons/test.json"}, - .params = { - .polylineReductionThreshold = 0.0, - .observationRadius = 100.0, - .collisionBehaviour = madrona_gpudrive::CollisionBehaviour::Ignore, - .roadObservationAlgorithm = madrona_gpudrive::FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering - } - }); - - - std::pair mean = {0, 0}; - - std::ifstream data = std::ifstream("testJsons/test.json"); - std::vector>> roadGeoms; - std::vector roadTypes; - - void SetUp() override { - json rawJson; - data >> rawJson; - mean = test_utils::calcMean(rawJson); - - std::cout<<"CTEST Mean x: "<> roadGeom; - for (const auto &point: obj["geometry"]) - { - roadGeom.push_back({point["x"], point["y"]}); - } - roadGeoms.push_back(roadGeom); - - if(obj["type"] == "road_edge") - { - roadTypes.push_back((float)madrona_gpudrive::EntityType::RoadEdge); - } - else if(obj["type"] == "road_line") - { - roadTypes.push_back((float)madrona_gpudrive::EntityType::RoadLine); - } - else if(obj["type"] == "lane") - { - roadTypes.push_back((float)madrona_gpudrive::EntityType::RoadLane); - } - else if(obj["type"] == "crosswalk") - { - roadTypes.push_back((float)madrona_gpudrive::EntityType::CrossWalk); - } - else if(obj["type"] == "speed_bump") - { - roadTypes.push_back((float)madrona_gpudrive::EntityType::SpeedBump); - } - else if(obj["type"] == "stop_sign") - { - roadTypes.push_back((float)madrona_gpudrive::EntityType::StopSign); - } - else if(obj["type"] == "invalid") - { - roadTypes.push_back(0); - } - } - } -}; - -TEST_F(ObservationsTest, TestObservations) { - auto obs = mgr.mapObservationTensor(); - auto flat_obs = test_utils::flatten_obs(obs); - - int64_t idx = 0; - for(int64_t i = 0; i < roadGeoms.size(); i++) - { - std::vector> roadGeom = roadGeoms[i]; - float roadType = roadTypes[i]; - for(int64_t j = 0; j < roadGeom.size() - 1; j++) - { - if(roadType > (float)madrona_gpudrive::EntityType::RoadLane && roadType < (float)madrona_gpudrive::EntityType::StopSign) - { - float x = (roadGeom[j].first + roadGeom[j+1].first + roadGeom[j+2].first + roadGeom[j+3].first)/4 - mean.first; - float y = (roadGeom[j].second + roadGeom[j+1].second + roadGeom[j+2].second + roadGeom[j+3].second)/4 - mean.second; - - ASSERT_NEAR(flat_obs[idx], x, test_utils::EPSILON); - ASSERT_NEAR(flat_obs[idx+1], y, test_utils::EPSILON); - ASSERT_EQ(flat_obs[idx+6], roadType); - idx += madrona_gpudrive::MapObservationExportSize; - break; - } - else if(roadType == (float)madrona_gpudrive::EntityType::StopSign) - { - float x = roadGeom[j].first - mean.first; - float y = roadGeom[j].second - mean.second; - - ASSERT_NEAR(flat_obs[idx], x, test_utils::EPSILON); - ASSERT_NEAR(flat_obs[idx+1], y, test_utils::EPSILON); - ASSERT_EQ(flat_obs[idx+6], roadType); - idx += 7; - break; - } - - float x1 = roadGeom[j].first - mean.first; - float y1 = roadGeom[j].second - mean.second; - float x2 = roadGeom[j+1].first - mean.first; - float y2 = roadGeom[j+1].second - mean.second; - float dx = (x2 + x1)/2; - float dy = (y2 + y1)/2; - - ASSERT_NEAR(flat_obs[idx], dx, test_utils::EPSILON); - ASSERT_NEAR(flat_obs[idx+1], dy, test_utils::EPSILON); - ASSERT_FLOAT_EQ(flat_obs[idx+6], roadType) << "i = " << i << " j = " << j << " idx = " << idx; - idx += madrona_gpudrive::MapObservationExportSize; - } - if(idx >= flat_obs.size()) - { - break; - } - } -} diff --git a/tests/test_utils.cpp b/tests/test_utils.cpp deleted file mode 100644 index 9f6a487d5..000000000 --- a/tests/test_utils.cpp +++ /dev/null @@ -1,55 +0,0 @@ -#include "test_utils.hpp" - -namespace test_utils -{ - std::vector flatten_obs(const py::Tensor &obs) - { - int64_t num_elems = 1; - for (int i = 0; i < obs.numDims(); i++) - { - num_elems *= obs.dims()[i]; - } - float *ptr = static_cast(obs.devicePtr()); - std::vector flattened; - for (int i = 0; i < num_elems; i++) - { - flattened.push_back(static_cast(ptr[i])); - } - return flattened; - } - - std::pair calcMean(const nlohmann::json &rawJson) - { - std::pair mean = {0, 0}; - int64_t numEntities = 0; - for (const auto &obj : rawJson["objects"]) - { - int i = 0; - for (const auto &pos : obj["position"]) - { - if(obj["valid"][i++] == false) - continue; - numEntities++; - float newX = pos["x"]; - float newY = pos["y"]; - // Update mean incrementally - mean.first += (newX - mean.first) / numEntities; - mean.second += (newY - mean.second) / numEntities; - } - } - for (const auto &obj : rawJson["roads"]) - { - for (const auto &point : obj["geometry"]) - { - numEntities++; - float newX = point["x"]; - float newY = point["y"]; - - // Update mean incrementally - mean.first += (newX - mean.first) / numEntities; - mean.second += (newY - mean.second) / numEntities; - } - } - return mean; - } -} \ No newline at end of file diff --git a/tests/test_utils.hpp b/tests/test_utils.hpp deleted file mode 100644 index 7482e2bc9..000000000 --- a/tests/test_utils.hpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "mgr.hpp" -#include -#include -#include -#include - -using namespace madrona; - -namespace test_utils -{ - const float EPSILON = 0.001f; // Decreased epsilon to account for floating point errors. TODO: increase floating point precision and ideally use 1e-6 as epsilon. - - std::vector flatten_obs(const py::Tensor &obs); - - std::pair calcMean(const nlohmann::json &rawJson); -} // namespace utils From ed550c3c3c13cf572dc0c4e1cd97851305252989 Mon Sep 17 00:00:00 2001 From: Maximilian Naumann Date: Mon, 7 Jul 2025 14:45:36 +0200 Subject: [PATCH 6/7] Fix typo in observation.py --- gpudrive/datatypes/observation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gpudrive/datatypes/observation.py b/gpudrive/datatypes/observation.py index a799ea0a9..4fe0641e7 100644 --- a/gpudrive/datatypes/observation.py +++ b/gpudrive/datatypes/observation.py @@ -389,7 +389,7 @@ def __init__( ): """Initializes the traffic light observation from a tensor.""" - traj_length = constants.LOG_TRAJECTORY_LENGTH + traj_length = constants.LOG_TRAJECTORY_LEN # Calculate indices based on C++ struct layout: # laneId (1) + state[traj_length] + x[traj_length] + y[traj_length] + z[traj_length] + timeIndex[traj_length] + numStates (1) From 3c851d0b8abd076ef03fae7f4c60d1ed96f08234 Mon Sep 17 00:00:00 2001 From: Maximilian Naumann Date: Mon, 7 Jul 2025 17:03:05 +0200 Subject: [PATCH 7/7] Fix crash due to traffic light state being NaN --- gpudrive/visualize/core.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py index 4cecf6804..e5abc404c 100644 --- a/gpudrive/visualize/core.py +++ b/gpudrive/visualize/core.py @@ -615,7 +615,15 @@ def _plot_traffic_lights( continue # Get current state - state = int(tl_obs.state[env_idx, tl_idx, time_step].item()) + try: + state = int(tl_obs.state[env_idx, tl_idx, time_step].item()) + except ValueError as e: + print( + f"Error converting traffic light state to int for env " + f"{env_idx}, tl {tl_idx}, time {time_step}: {e}. " + "Skipping this traffic light." + ) + continue state = max(0, min(3, state)) # Clamp to valid range color = TL_STATE_COLORS[state]