Allow to config "set_static", default to False to fix the bug of flic…

…kerring visualization.

metadrive/envs/scenario_env.py

@@ -59,6 +59,12 @@
         lane_line_detector=dict(num_lasers=0, distance=50),
         side_detector=dict(num_lasers=12, distance=50),
     ),
+    # If set_static=True, then the agent will not "fall from the sky". This will be helpful if you want to
+    # capture per-frame data for the agent (for example for collecting static sensor data).
+    # However, the physics engine will not update the position of the agent. So in the visualization, the image will be
+    # very chunky as the agent will not suddenly move to the next position for each step.
+    # Set to False for better visualization.
+    set_static=False,
 
     # ===== Reward Scheme =====
     # See: https://github.com/metadriverse/metadrive/issues/283
@@ -410,7 +416,8 @@ def _reset_global_seed(self, force_seed=None):
             # "no_traffic":True,
             # "start_scenario_index": 192,
             # "start_scenario_index": 1000,
-            "num_scenarios": 30,
+            "num_scenarios": 3,
+            "set_static": True,
             # "force_reuse_object_name": True,
             # "data_directory": "/home/shady/Downloads/test_processed",
             "horizon": 1000,
@@ -424,7 +431,7 @@ def _reset_global_seed(self, force_seed=None):
                 lane_line_detector=dict(num_lasers=12, distance=50),
                 side_detector=dict(num_lasers=160, distance=50)
             ),
-            "data_directory": AssetLoader.file_path("nuplan", unix_style=False),
+            "data_directory": AssetLoader.file_path("nuscenes", unix_style=False),
         }
     )
     success = []

metadrive/policy/replay_policy.py

@@ -63,7 +63,14 @@ def act(self, *args, **kwargs):
         self.control_object.set_velocity(info["velocity"], in_local_frame=self._velocity_local_frame)
         self.control_object.set_heading_theta(info["heading"])
         self.control_object.set_angular_velocity(info["angular_velocity"])
-        self.control_object.set_static(True)
+
+        # If set_static, then the agent will not "fall from the sky".
+        # However, the physics engine will not update the position of the agent.
+        # So in the visualization, the image will be very chunky as the agent will not suddenly move to the next
+        # position for each step.
+
+        if self.engine.global_config.get("set_static", False):
+            self.control_object.set_static(True)
 
         return None  # Return None action so the base vehicle will not overwrite the steering & throttle