start working on p2 for mp

AutoVerse-ai · Mar 29, 2024 · 8913850 · 8913850
1 parent 610ff06
commit 8913850
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Showing 8 changed files with 787 additions and 6 deletions.
diff --git a/demo/dryvr_demo/rendezvous_controller.py b/demo/dryvr_demo/rendezvous_controller.py
@@ -46,7 +46,7 @@ def decisionLogic(ego: State):
 
     # assert (ego.craft_mode!=CraftMode.ProxB or\
     #      (ego.xp>=-105 and ego.yp>=0.57735*ego.xp and -ego.yp>=0.57735*ego.xp)), "Line-of-sight"
-    assert ego.craft_mode != CraftMode.Passive or (
-        ego.xp <= -0.2 or ego.xp >= 0.2 or ego.yp <= -0.2 or ego.yp >= 0.2
-    ), "Collision avoidance"
+    # assert ego.craft_mode != CraftMode.Passive or (
+    #     ego.xp <= -0.2 or ego.xp >= 0.2 or ego.yp <= -0.2 or ego.yp >= 0.2
+    # ), "Collision avoidance"
     return output
diff --git a/demo/dryvr_demo/rendezvous_demo.py b/demo/dryvr_demo/rendezvous_demo.py
@@ -1,5 +1,5 @@
 from origin_agent import craft_agent
-from verse import Scenario
+from verse import Scenario, ScenarioConfig
 from verse.plotter.plotter2D import *
 from verse.sensor.example_sensor.craft_sensor import CraftSensor
 
@@ -15,7 +15,7 @@ class CraftMode(Enum):
 
 if __name__ == "__main__":
     input_code_name = "./demo/dryvr_demo/rendezvous_controller.py"
-    scenario = Scenario()
+    scenario = Scenario(ScenarioConfig(parallel=False))
 
     car = craft_agent("test", file_name=input_code_name)
     scenario.add_agent(car)