add ego car color in top down view

metadrive/constants.py

@@ -459,6 +459,9 @@ def get_color(type):
         # vehicle
         elif MetaDriveType.is_vehicle(type):
             ret = np.array([224, 177, 67])
+        # self vehicle
+        elif MetaDriveType.is_ego_vehicle(type):
+            ret = np.array([67, 177, 224])
         # construction object
         elif MetaDriveType.is_traffic_object(type):
             ret = np.array([67, 143, 224])

metadrive/engine/top_down_renderer.py

@@ -409,10 +409,14 @@ def _append_frame_objects(objects):
         """
         frame_objects = []
         for name, obj in objects.items():
+            obj_type = obj.metadrive_type if hasattr(obj, "metadrive_type") else MetaDriveType.OTHER
+            if obj_type == MetaDriveType.VEHICLE:
+                obj_type = 'EGO_VEHICLE' if obj.class_name == 'DefaultVehicle' else MetaDriveType.VEHICLE
+
             frame_objects.append(
                 history_object(
                     name=name,
-                    type=obj.metadrive_type if hasattr(obj, "metadrive_type") else MetaDriveType.OTHER,
+                    type=obj_type,
                     heading_theta=obj.heading_theta,
                     WIDTH=obj.top_down_width,
                     LENGTH=obj.top_down_length,

metadrive/type.py

@@ -62,6 +62,7 @@ class MetaDriveType:
     # ===== Agent type =====
     UNSET = "UNSET"
     VEHICLE = "VEHICLE"
+    EGO_VEHICLE = "EGO_VEHICLE"  # currently for top-down view
     PEDESTRIAN = "PEDESTRIAN"
     CYCLIST = "CYCLIST"
     OTHER = "OTHER"
@@ -177,6 +178,10 @@ def is_crosswalk(cls, type):
     def is_vehicle(cls, type):
         return type == cls.VEHICLE
 
+    @classmethod
+    def is_ego_vehicle(cls, type):
+        return type == cls.EGO_VEHICLE
+
     @classmethod
     def is_pedestrian(cls, type):
         return type == cls.PEDESTRIAN