Fix

Author: gaodechen

car_dreamer/carla_navigation_env.py

@@ -13,7 +13,7 @@ class CarlaNavigationEnv(CarlaWptEnv):
     * ``num_vehicles``: Number of vehicles to spawn in the environment
 
     """
-    
+
     SUCCESS_DISTANCE_THRESHOLD = 200.0
 
     def on_reset(self) -> None:
@@ -23,7 +23,7 @@ def on_reset(self) -> None:
         self.waypoints, self.planner_stats = self.ego_planner.run_step()
         self.num_completed = self.planner_stats["num_completed"]
         self.sum_travel_distance = self.planner_stats["travel_distance"]
-        
+
     def on_step(self) -> None:
         super().on_step()
         self.sum_travel_distance += self.planner_stats["travel_distance"]

car_dreamer/carla_right_turn_random_env.py

@@ -1,11 +1,9 @@
-import random
-import time
-from collections import deque
+import numpy as np
 
 import carla
 
 from .carla_wpt_fixed_env import CarlaWptFixedEnv
-from .toolkit import FixedPathPlanner, get_vehicle_pos
+from .toolkit import FixedPathPlanner
 
 
 class CarlaRightTurnRandomEnv(CarlaWptFixedEnv):
@@ -19,8 +17,7 @@ def __init__(self, config):
         super().__init__(config)
 
     def on_reset(self) -> None:
-        random.seed(time.time())
-        random_index = random.randint(0, len(self._config.lane_start_point))
+        random_index = np.random.randint(0, len(self._config.lane_start_point))
         self.ego_src = self._config.lane_start_point[random_index]
         ego_transform = carla.Transform(carla.Location(*self.ego_src[:3]), carla.Rotation(yaw=self.ego_src[3]))
         self.ego = self._world.spawn_actor(transform=ego_transform)

car_dreamer/carla_stop_sign_env.py

@@ -18,7 +18,6 @@ def __init__(self, config):
         super().__init__(config)
 
     def on_reset(self) -> None:
-        np.random.seed(time.time())
         random_index = np.random.randint(0, len(self._config.lane_start_point))
         self.ego_src = self._config.lane_start_point[random_index]
         ego_transform = carla.Transform(carla.Location(*self.ego_src[:3]), carla.Rotation(yaw=self.ego_src[3]))

car_dreamer/carla_traffic_lights_env.py

@@ -18,7 +18,6 @@ def __init__(self, config):
         super().__init__(config)
 
     def on_reset(self) -> None:
-        np.random.seed(time.time())
         random_index = np.random.randint(0, len(self._config.lane_start_point))
         self.ego_src = self._config.lane_start_point[random_index]
         ego_transform = carla.Transform(carla.Location(*self.ego_src[:3]), carla.Rotation(yaw=self.ego_src[3]))

car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py

@@ -313,6 +313,8 @@ def _render_traffic_light(self, surface, traffic_light: carla.Actor, color: Colo
 
     def _render_stop_signs(self, **env_state):
         stop_sign_state = env_state.get("stop_sign_state")
+        if stop_sign_state is None:
+            return
         stop_signs = self._world_manager.carla_actors("stop")
         for stop_sign in stop_signs:
             if stop_sign.id in stop_sign_state: