I am trying to custom a policy using metadrive frame work.To make a decision, I want to get the rgb_camera information in vehicle. I've already check the official files and I just know I can get frame from obs. But the image should get in the policy class. Then I using self.control_object to check if there is image. But I didn't find it. My policy class is degsined: class FastSlowPolicy(BasePolicy): def __init__(self, control_object, agent_id): super().__init__(control_object) self.target_acc = None self.current_acc = 0 self.acc_map = { "speed_up": 1.0, "speed_down": -1.0, "speed_keep": 0.0, } self.vehicle = self.control_object self.use_llm = True self.step = 0 self.heading_pid = PIDController(1.7, 0.01, 3.5) self.lateral_pid = PIDController(0.3, 0.002, 0.05) def act(self, agent_names): acceleration = self.control_acceleration() steering = self.control_steering() return [steering, acceleration] def control_steering(self): lane = self.vehicle.lane vehicle = self.vehicle long, lat = lane.local_coordinates(vehicle.position) lane_heading = lane.heading_theta_at(long + 1) v_heading = vehicle.heading_theta steering = self.heading_pid.get_result(-wrap_to_pi(lane_heading - v_heading)) steering += self.lateral_pid.get_result(-lat) return steering def control_acceleration(self): if self.use_llm: self.use_llm = False print(f"[[Slow System Process]]: Decision by Large Language Model...") decision = decision_by_llm(self.step) self.step = self.step + 1 self.target_acc = self.acc_map.get(decision['acceleration'], 0) if self.target_acc == 0.0: acceleration = 0 else: acceleration = self._interpolate_acceleration(self.step) else: if self.step % 20 == 0: self.use_llm = True acceleration = self._interpolate_acceleration(self.step) return acceleration I want to get the frame image in self.control_acceleration so that I can send the images to a LLM to make a decision. The official files is: https://metadrive-simulator.readthedocs.io/en/latest/action.html#policy Continue reading...
