Fix envision gltf metadata hierarchy.

CHANGELOG.md

@@ -19,6 +19,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Fixed an issue where the `EnvisionDataFormatterArgs` default would use a locally defined lambda and cause a serialization failure.
 - Fixed an issue where user configuration was being overridden.
 - Fixed a `pkg_resources` deprecation warning in `python3.10` and up.
+- Fixed the envision camera to center on the map which was broken due to a change in the `gltf` metadata hierarchy.
+- Fixed an issue where you would need to install `waymo` in order to use any kind of dataset histories.
 ### Removed
 ### Security
 

envision/web/src/components/simulation.js

@@ -106,15 +106,20 @@ export default function Simulation({
     this.name = `load_gltf_extras_${scenario_id}`;
     this.enabled = true;
 
-    if (loader.gltf["extras"]) {
-      if (loader.gltf.extras["lane_dividers"]) {
-        setLaneDividerPos(loader.gltf.extras["lane_dividers"]);
+    let extras = loader.gltf["extras"]
+      ? loader.gltf.extras
+      : loader.gltf["scenes"]
+      ? loader.gltf.scenes[0].extras
+      : null;
+    if (extras) {
+      if (extras["lane_dividers"]) {
+        setLaneDividerPos(extras["lane_dividers"]);
       }
-      if (loader.gltf.extras["edge_dividers"]) {
-        setEdgeDividerPos(loader.gltf.extras["edge_dividers"]);
+      if (extras["edge_dividers"]) {
+        setEdgeDividerPos(extras["edge_dividers"]);
       }
-      if (loader.gltf.extras["bounding_box"]) {
-        setRoadNetworkBbox(loader.gltf.extras["bounding_box"]);
+      if (extras["bounding_box"]) {
+        setRoadNetworkBbox(extras["bounding_box"]);
       }
     }
   }
@@ -129,28 +134,28 @@ export default function Simulation({
     let cylinder_ = MeshBuilder.CreateCylinder(
       "waypoint",
       { diameterTop: 0.5, diameterBottom: 0.5, height: 0.01 },
-      scene_,
+      scene_
     );
     cylinder_.isVisible = false;
 
     setEgoWaypointModel(cylinder_.clone("ego-waypoint").makeGeometryUnique());
     setSocialWaypointModel(
-      cylinder_.clone("social-waypoint").makeGeometryUnique(),
+      cylinder_.clone("social-waypoint").makeGeometryUnique()
     );
 
     // Driven path cuboid
     let cuboid_ = MeshBuilder.CreateBox(
       "drivenPath",
       { height: 0.3, width: 1, depth: 0.01 },
-      scene_,
+      scene_
     );
     cuboid_.isVisible = false;
 
     setEgoDrivenPathModel(
-      cuboid_.clone("ego-driven-path").makeGeometryUnique(),
+      cuboid_.clone("ego-driven-path").makeGeometryUnique()
     );
     setSocialDrivenPathModel(
-      cuboid_.clone("social-driven-path").makeGeometryUnique(),
+      cuboid_.clone("social-driven-path").makeGeometryUnique()
     );
 
     // Light
@@ -226,7 +231,7 @@ export default function Simulation({
       `load_gltf_extras_${worldState.scenario_id}`,
       function (loader) {
         return new LoadGLTFExtras(loader, worldState.scenario_id);
-      },
+      }
     );
 
     SceneLoader.ImportMesh("", mapRootUrl, mapFilename, scene, (meshes) => {
@@ -250,7 +255,7 @@ export default function Simulation({
         child.actionManager = new ActionManager(scene);
         child.actionManager.registerAction(
           new ExecuteCodeAction(ActionManager.OnPointerOverTrigger, function (
-            evt,
+            evt
           ) {
             material.diffuseColor = roadColorSelected;
             setMapElementSelected(true);
@@ -259,23 +264,23 @@ export default function Simulation({
               lane_id: child.metadata.gltf.extras.lane_id,
               lane_index: child.metadata.gltf.extras.lane_index,
             });
-          }),
+          })
         );
         child.actionManager.registerAction(
           new ExecuteCodeAction(ActionManager.OnPointerOutTrigger, function (
-            evt,
+            evt
           ) {
             material.diffuseColor = roadColor;
             setMapElementSelected(false);
             setDebugInfo({});
-          }),
+          })
         );
       }
 
       mapMeshesRef.current = meshes;
 
       GLTFLoader.UnregisterExtension(
-        `load_gltf_extras_${worldState.scenario_id}`,
+        `load_gltf_extras_${worldState.scenario_id}`
       );
     });
   }, [scene, worldState.scenario_id]);
@@ -370,7 +375,7 @@ export default function Simulation({
             attrName="Position"
             data_formattter={(position) =>
               `x: ${parseFloat(position[0]).toFixed(2)} y: ${parseFloat(
-                position[1],
+                position[1]
               ).toFixed(2)}`
             }
             ego_agent_ids={worldState.ego_agent_ids}

smarts/core/waymo_map.py

@@ -49,6 +49,7 @@
     vec_2d,
 )
 from smarts.sstudio.types import MapSpec
+from smarts.waymo.exceptions import WaymoDatasetError
 from smarts.waymo.waymo_open_dataset.protos import scenario_pb2
 from smarts.waymo.waymo_open_dataset.protos.map_pb2 import (
     Crosswalk,
@@ -57,7 +58,6 @@
     SpeedBump,
     StopSign,
 )
-from smarts.waymo.waymo_utils import WaymoDatasetError
 
 try:
     import rtree

smarts/sstudio/genhistories.py

@@ -42,9 +42,7 @@
     vec_to_radians,
 )
 from smarts.sstudio import types
-from smarts.waymo.waymo_open_dataset.protos import scenario_pb2
-from smarts.waymo.waymo_open_dataset.protos.map_pb2 import TrafficSignalLaneState
-from smarts.waymo.waymo_utils import WaymoDatasetError
+from smarts.waymo.exceptions import WaymoDatasetError
 
 METERS_PER_FOOT = 0.3048
 DEFAULT_LANE_WIDTH = 3.7  # a typical US highway lane is 12ft ~= 3.7m wide
@@ -800,6 +798,9 @@ def _get_scenario(self):
         # Loop over the scenarios in the TFRecord and check its ID for a match
         scenario = None
         dataset = read_tfrecord_file(self._dataset_spec["input_path"])
+
+        from smarts.waymo.waymo_open_dataset.protos import scenario_pb2
+
         for record in dataset:
             parsed_scenario = scenario_pb2.Scenario()
             parsed_scenario.ParseFromString(bytes(record))
@@ -931,6 +932,10 @@ def lerp(a: float, b: float, t: float) -> float:
                 yield rows[j]
 
     def _encode_tl_state(self, waymo_state) -> SignalLightState:
+        from smarts.waymo.waymo_open_dataset.protos.map_pb2 import (
+            TrafficSignalLaneState,
+        )
+
         if waymo_state == TrafficSignalLaneState.LANE_STATE_STOP:
             return SignalLightState.STOP
         if waymo_state == TrafficSignalLaneState.LANE_STATE_CAUTION:

smarts/waymo/exceptions.py

@@ -0,0 +1,27 @@
+# MIT License
+#
+# Copyright (C) 2023. Huawei Technologies Co., Ltd. All rights reserved.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+
+class WaymoDatasetError(Exception):
+    """Represents an error related to the data in a Waymo dataset scenario."""
+
+    pass

smarts/waymo/waymo_utils.py

@@ -34,13 +34,6 @@
 from smarts.core.utils.file import read_tfrecord_file
 from smarts.waymo.waymo_open_dataset.protos import scenario_pb2
 
-
-class WaymoDatasetError(Exception):
-    """Represents an error related to the data in a Waymo dataset scenario."""
-
-    pass
-
-
 MAP_HANDLES = [
     Line2D([0], [0], linestyle=":", color="gray", label="Lane Polyline"),
     Line2D([0], [0], linestyle="-", color="yellow", label="Single Road Line"),