allow change radius of the intersection; set accident_prob=1.0

metadrive/component/pgblock/intersection.py

@@ -268,3 +268,4 @@ def get_intermediate_spawn_lanes(self):
 class InterSectionWithUTurn(InterSection):
     ID = "U"
     _enable_u_turn_flag = True
+    SOCKET_NUM = 4

metadrive/envs/multigoal_intersection.py

@@ -8,18 +8,32 @@
 
 from metadrive import MetaDriveEnv
 from metadrive.component.navigation_module.node_network_navigation import NodeNetworkNavigation
+from metadrive.component.pg_space import ParameterSpace, Parameter, ConstantSpace, DiscreteSpace
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.intersection import InterSectionWithUTurn
 from metadrive.component.road_network import Road
 from metadrive.constants import DEFAULT_AGENT
 from metadrive.engine.logger import get_logger
-from metadrive.manager.base_manager import BaseManager
-
 from metadrive.envs.varying_dynamics_env import VaryingDynamicsAgentManager, VaryingDynamicsConfig
+from metadrive.manager.base_manager import BaseManager
 
 logger = get_logger()
 
 
+class CustomizedIntersection(InterSectionWithUTurn):
+    PARAMETER_SPACE = ParameterSpace(
+        {
+
+            # changed from 10 to 8:
+            Parameter.radius: ConstantSpace(8),
+
+            # unchanged:
+            Parameter.change_lane_num: DiscreteSpace(min=0, max=1),
+            Parameter.decrease_increase: DiscreteSpace(min=0, max=1)
+        }
+    )
+
+
 class MultiGoalIntersectionNavigationManager(BaseManager):
     """
     This manager is responsible for managing multiple navigation modules, each of which is responsible for guiding the
@@ -28,16 +42,16 @@ class MultiGoalIntersectionNavigationManager(BaseManager):
     GOALS = {
         "u_turn": (-Road(FirstPGBlock.NODE_2, FirstPGBlock.NODE_3)).end_node,
         "right_turn": Road(
-            InterSectionWithUTurn.node(block_idx=1, part_idx=0, road_idx=0),
-            InterSectionWithUTurn.node(block_idx=1, part_idx=0, road_idx=1)
+            CustomizedIntersection.node(block_idx=1, part_idx=0, road_idx=0),
+            CustomizedIntersection.node(block_idx=1, part_idx=0, road_idx=1)
         ).end_node,
         "go_straight": Road(
-            InterSectionWithUTurn.node(block_idx=1, part_idx=1, road_idx=0),
-            InterSectionWithUTurn.node(block_idx=1, part_idx=1, road_idx=1)
+            CustomizedIntersection.node(block_idx=1, part_idx=1, road_idx=0),
+            CustomizedIntersection.node(block_idx=1, part_idx=1, road_idx=1)
         ).end_node,
         "left_turn": Road(
-            InterSectionWithUTurn.node(block_idx=1, part_idx=2, road_idx=0),
-            InterSectionWithUTurn.node(block_idx=1, part_idx=2, road_idx=1)
+            CustomizedIntersection.node(block_idx=1, part_idx=2, road_idx=0),
+            CustomizedIntersection.node(block_idx=1, part_idx=2, road_idx=1)
         ).end_node,
     }
 
@@ -91,7 +105,6 @@ class MultiGoalIntersectionEnv(MetaDriveEnv):
     This environment is an intersection with multiple goals. We provide the reward function, observation, termination
     conditions for each goal in the info dict returned by env.reset and env.step, with prefix "goals/{goal_name}/".
     """
-
     @classmethod
     def default_config(cls):
         config = MetaDriveEnv.default_config()
@@ -101,14 +114,20 @@ def default_config(cls):
 
                 # Set the map to an Intersection
                 "start_seed": 0,
-                "map": "U",
+
+                # Disable the shortcut config for map.
+                "map": None,
+                "map_config": dict(
+                    type="block_sequence", config=[
+                        CustomizedIntersection,
+                    ], lane_num=2, lane_width=3.5
+                ),
 
                 # Even though the map will not change, the traffic flow will change.
                 "num_scenarios": 1000,
 
                 # Remove all traffic vehicles for now.
                 "traffic_density": 0.2,
-
                 "vehicle_config": {
 
                     # Remove navigation arrows in the window as we are in multi-goal environment.
@@ -256,14 +275,8 @@ def done_function(self, vehicle_id: str):
         use_render=True,
         manual_control=True,
         vehicle_config=dict(show_lidar=False, show_navi_mark=True, show_line_to_navi_mark=True),
-        map_config=dict(
-            type="block_sequence",
-            config="U",
-            lane_num=2,
-            lane_width=3.5
-        ),
         accident_prob=1.0,
-        decision_repeat=1,
+        decision_repeat=5,
     )
     env = MultiGoalIntersectionEnv(config)
     episode_rewards = defaultdict(float)