OpenDrive <> Metadrive Integration

[abanuelo]

Hi team, regarding the currently supported OpenDrive <> Metadrive implementation I was going through trying to get it working with a custom MetaDriveEnv and defining a CustomMapManager off the BaseManager class that would explicitly parse an OpenDrive file and use that as a way for an agent to navigate the map. I see in your test folder you have support for CARLA's Town01.xodr file and I have confirmed that the parsing that files as explicitly seen here.

Here is the working code,

def load_map(self):
        self.global_network = OpenDriveRoadNetwork()
        self.map_data = load_opendrive_map(self.metadrive_map)
        for road in self.map_data.roads:
            for section in road.lanes.lane_sections:
                block = OpenDriveBlock(len(self.blocks), self.global_network, 0, section)
                block.construct_block(self.engine.render, self.engine.physics_world)
                self.blocks.append(block)

Now that the blocks have been read, what are the best practices to make this into a map for the MetaDriveEnv environment? I am finding the documentation quite sparse on this matter and I know that the existing interface is a WIP according to the docs so please let me know!.

Thanks!