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Add pedestrian motorbike model #767

Merged
merged 17 commits into from
Apr 17, 2021
Merged

Add pedestrian motorbike model #767

merged 17 commits into from
Apr 17, 2021

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JingfeiPeng
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@JingfeiPeng JingfeiPeng commented Apr 14, 2021 •
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Added models and glb for motorcycle and pedestrian.

image
image

Also rescaled other vehicles
image

closes #756 #755

sah-huawei
sah-huawei reviewed Apr 14, 2021
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smarts/core/traffic_history_provider.py
@@ -90,10 +90,15 @@ class _HistoryRow(NamedTuple):
def _decode_vehicle_type(self, vehicle_type):
# Options from NGSIM and INTERACTION currently include:
# 1=motorcycle, 2=auto, 3=truck, 4=pedestrian/bicycle
# But we don't yet have glb models for 1 and 4.
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I just went ahead and used the new types in our TrafficHistoryProvider since that's what spurred the issue to be created.

sah-huawei
sah-huawei approved these changes Apr 14, 2021
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Great!

This was linked to issues Apr 14, 2021
Pedestrian model #756
Closed
Model for two wheel vehicles #755
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JingfeiPeng
JingfeiPeng commented Apr 14, 2021
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.gitignore
@@ -114,6 +114,7 @@ traffic_histories.pkl

# but keep model assets
!**/models/*.glb
*.blend1
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*.blend1 files are automatically generated backup files for *.blend files

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Were you also going to add .urdf models for physics?

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Were you also going to add .urdf models for physics?

nope, in the meeting after standup, it was decided urdf files aren't needed. We currently don't use different urdf for different vehicle types. Also having more urdf increases complexity of modeling physics in my understanding

Gamenot
Gamenot approved these changes Apr 16, 2021
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Good work.

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Gamenot commented Apr 16, 2021

We will need to fix test observations.

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JingfeiPeng commented Apr 16, 2021 •
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We will need to fix test observations.

right sorry I missed that. Also were we going to disable test_notebook test?

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Gamenot commented Apr 16, 2021

We will need to fix test observations.

right sorry I missed that. Also were we going to disable test_notebook test?

I will try fixing it by explicitly installing ipykernel.

@JingfeiPeng JingfeiPeng force-pushed the add_pedestrian_motorbike_model branch from d79fb8e to ff9308c Compare April 16, 2021 18:33
@JingfeiPeng JingfeiPeng force-pushed the add_pedestrian_motorbike_model branch from f047919 to 50763be Compare April 17, 2021 01:15
JingfeiPeng
JingfeiPeng commented Apr 17, 2021
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smarts/core/tests/test_observations.py
@@ -134,16 +138,19 @@ def sample_vehicle_pos(lens, rgb, ogm, drivable_area, vehicle_pos):

# Check if vehicles are rendered at the expected position
# RGB
tolerance = 2
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@JingfeiPeng JingfeiPeng Apr 17, 2021 •
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@Gamenot is it fine to have a small tolerance here when checking rgb, ogm and drivable_grid_map? The motorbike model width is smaller than other vehicles so might need some tolerance

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This is fine. Just note that this tolerance growth formula is (2n+1)^2. (i.e. 1, 9, 25, 49, 81, ...)

@JingfeiPeng JingfeiPeng force-pushed the add_pedestrian_motorbike_model branch from 9c38e81 to 2c6a81a Compare April 17, 2021 02:12
@JingfeiPeng JingfeiPeng merged commit c071d53 into develop Apr 17, 2021
@JingfeiPeng JingfeiPeng deleted the add_pedestrian_motorbike_model branch April 17, 2021 18:39
This was referenced Apr 17, 2021
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@Gamenot Gamenot mentioned this pull request Nov 28, 2023
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@Gamenot Gamenot Gamenot approved these changes

@sah-huawei sah-huawei sah-huawei approved these changes

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Pedestrian model Model for two wheel vehicles
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@JingfeiPeng @sah-huawei @Gamenot