From 4299277d99a190f0706a7cfa36b1f2d03ed8b024 Mon Sep 17 00:00:00 2001
From: lzh <2536890272@qq.com>
Date: Mon, 26 Feb 2024 19:23:21 +0800
Subject: [PATCH 1/2] fix expert bug, cover side_detector and
 lane_line_detector setting

---
 metadrive/examples/ppo_expert/numpy_expert.py | 8 ++++----
 metadrive/examples/ppo_expert/torch_expert.py | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/metadrive/examples/ppo_expert/numpy_expert.py b/metadrive/examples/ppo_expert/numpy_expert.py
index 3419a87d5..35f3ccac9 100644
--- a/metadrive/examples/ppo_expert/numpy_expert.py
+++ b/metadrive/examples/ppo_expert/numpy_expert.py
@@ -41,12 +41,12 @@ def expert(vehicle, deterministic=False, need_obs=False):
     global _expert_observation
     expert_obs_cfg = dict(
         lidar=dict(num_lasers=240, distance=50, num_others=4, gaussian_noise=0.0, dropout_prob=0.0),
+        side_detector=dict(num_lasers=0, distance=50, gaussian_noise=0.0, dropout_prob=0.0),
+        lane_line_detector=dict(num_lasers=0, distance=20, gaussian_noise=0.0, dropout_prob=0.0),
         random_agent_model=False
     )
-    origin_obs_cfg = dict(
-        lidar=dict(num_lasers=240, distance=50, num_others=0, gaussian_noise=0.0, dropout_prob=0.0),
-        random_agent_model=False
-    )
+    origin_obs_cfg = vehicle.config.copy()
+    # TODO: some setting in origin cfg will not be covered, then they may change the obs shape
 
     if _expert_weights is None:
         _expert_weights = np.load(ckpt_path)
diff --git a/metadrive/examples/ppo_expert/torch_expert.py b/metadrive/examples/ppo_expert/torch_expert.py
index a244b8583..fc572f1d3 100644
--- a/metadrive/examples/ppo_expert/torch_expert.py
+++ b/metadrive/examples/ppo_expert/torch_expert.py
@@ -50,12 +50,12 @@ def torch_expert(vehicle, deterministic=False, need_obs=False):
     global _expert_observation
     expert_obs_cfg = dict(
         lidar=dict(num_lasers=240, distance=50, num_others=4, gaussian_noise=0.0, dropout_prob=0.0),
+        side_detector=dict(num_lasers=0, distance=50, gaussian_noise=0.0, dropout_prob=0.0),
+        lane_line_detector=dict(num_lasers=0, distance=20, gaussian_noise=0.0, dropout_prob=0.0),
         random_agent_model=False
     )
-    origin_obs_cfg = dict(
-        lidar=dict(num_lasers=240, distance=50, num_others=0, gaussian_noise=0.0, dropout_prob=0.0),
-        random_agent_model=False
-    )
+    origin_obs_cfg = vehicle.config.copy()
+    # TODO: some setting in origin cfg will not be covered, then they may change the obs shape
     with torch.no_grad():  # Disable gradient computation
         if _expert_weights is None:
             _expert_weights = numpy_to_torch(np.load(ckpt_path), device)

From baa2901d0a9523e26688bf1457261c06b7ea01aa Mon Sep 17 00:00:00 2001
From: lzh <2536890272@qq.com>
Date: Mon, 20 May 2024 15:26:29 +0800
Subject: [PATCH 2/2] add ego car color in top down view

---
 metadrive/constants.py                | 3 +++
 metadrive/engine/top_down_renderer.py | 6 +++++-
 metadrive/type.py                     | 5 +++++
 3 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/metadrive/constants.py b/metadrive/constants.py
index 00f5cc5bd..e98e055c5 100644
--- a/metadrive/constants.py
+++ b/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])
diff --git a/metadrive/engine/top_down_renderer.py b/metadrive/engine/top_down_renderer.py
index 841614e4b..e425a1e61 100644
--- a/metadrive/engine/top_down_renderer.py
+++ b/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,
diff --git a/metadrive/type.py b/metadrive/type.py
index 00f9fdd1a..7af0d865f 100644
--- a/metadrive/type.py
+++ b/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