displaying the velocity of ego agent in the figure

[tinmodeHuang]

I tried to add the following lines in /bark/bark/runtime/viewer/viewer.py while running tfa_gnn.py.

            if eval_agent_ids is not None:
                self.drawText(position=(0.1, 1.0), text="velocity: {:.2f}".format(
                    world.agents[eval_agent_ids[0]].state[int(StateDefinition.VEL_POSITION)]), fontsize=14)

after modifying, the code block show as follow:

        if debug_text:  # True by default
            ###
            if eval_agent_ids is not None:
                self.drawText(position=(0.1, 1.0), text="velocity: {:.2f}".format(
                    world.agents[eval_agent_ids[0]].state[int(StateDefinition.VEL_POSITION)]), fontsize=14)
            ###
            self.drawText(position=(0.1, 0.9), text="Scenario: {}".format(
                scenario_idx), fontsize=14)
            self.drawText(position=(0.1, 0.95),
                          text="Time: {:.2f}".format(world.time), fontsize=14)

As a result, the modification make no difference. I managed to make it instead after modifying another viewer.py in /.cache/bazel/_bazel_tinmode/0534ffbce5f0177dc35c2eb30e06c204/execroot/bark_ml/bazel-out/k8-fastbuild/bin/examples/tfa.runfiles/bark_project/bark/runtime/viewer/ , the file is generated after building, but that is not what I expect.

[patrickhart]

You need to set the parameters for the visualization correctly. If you look at the very top of the viewer.py you can see the parameters being parsed from the ParameterServer.

[tinmodeHuang]

I'm sorry for don't explain myself clearly, the description have already been modified.

[patrickhart]

I tried to add the following lines in /bark/bark/runtime/viewer/viewer.py while running tfa_gnn.py.

            if eval_agent_ids is not None:
                self.drawText(position=(0.1, 1.0), text="velocity: {:.2f}".format(
                    world.agents[eval_agent_ids[0]].state[int(StateDefinition.VEL_POSITION)]), fontsize=14)

after modifying, the code block show as follow:

        if debug_text:  # True by default
            ###
            if eval_agent_ids is not None:
                self.drawText(position=(0.1, 1.0), text="velocity: {:.2f}".format(
                    world.agents[eval_agent_ids[0]].state[int(StateDefinition.VEL_POSITION)]), fontsize=14)
            ###
            self.drawText(position=(0.1, 0.9), text="Scenario: {}".format(
                scenario_idx), fontsize=14)
            self.drawText(position=(0.1, 0.95),
                          text="Time: {:.2f}".format(world.time), fontsize=14)

As a result, the modification make no difference. I managed to make it instead after modifying another viewer.py in /.cache/bazel/_bazel_tinmode/0534ffbce5f0177dc35c2eb30e06c204/execroot/bark_ml/bazel-out/k8-fastbuild/bin/examples/tfa.runfiles/bark_project/bark/runtime/viewer/ , the file is generated after building, but that is not what I expect.

This should actually work, maybe try to have a look where in the code you added it and remove the if-condition?

[tinmodeHuang]

        if debug_text:
            # if eval_agent_ids is not None:
                self.drawText(position=(0.1, 1.0), text="velocity: {:.2f}".format(
                    world.agents[eval_agent_ids[0]].state[int(StateDefinition.VEL_POSITION)]), fontsize=14)
            self.drawText(position=(0.1, 0.9), text="Scenario: {}".format(
                scenario_idx), fontsize=14)
            self.drawText(position=(0.1, 0.95),
                          text="Time: {:.2f}".format(world.time), fontsize=14)

I tried commenting the if-condition statement, but that doesn't work. after rebuilding, the modification above didn't present in the viewer.py runtime file corresponding to bark-ml, instead it would present in the one corresponding to bark. it seems to only add the statement to the runtime file in the .cache directory to implement the feature.

[patrickhart]

Sorry for the delayed answer. I think it would be best if you use VS-Code and setup the python debugging toolchain. Then you can set breakpoints and slowly debug the code, which functions are called, etc.

[tinmodeHuang]

In fact, after modifying /bark/bark/runtime/viewer/viewer.py, the same modification also appeared in /home/tinmode/.cache/bazel/_bazel_tinmode/eed35bca151b9786939218b1ff3c4a84/execroot/bark_project/bazel-out/k8-fastbuild/bin/bark/examples/merging.runfiles/bark_project/bark/runtime/viewer.py, and therefore the velocity was displayed in the figure at the moment running bazel run //examples:merging. However, the same modification don't have appeared in /.cache/bazel/_bazel_tinmode/0534ffbce5f0177dc35c2eb30e06c204/execroot/bark_ml/bazel-out/k8-fastbuild/bin/examples/tfa.runfiles/bark_project/bark/runtime/viewer/viewer.py, that resulted in displaying no velocity in the figure while running bazel run //examples:tfa_gnn.

[patrickhart]

That is probably due to the BARK version used that is defined in the dependencies. If you modify something in BARK and you want to use that in BARK-ML immediately it is better to use a local BARK version.

To use a local BARK version you can changeutils/dependencies.bzl

  _maybe(
    git_repository,
    name = "bark_project",
    branch = "master",
    remote = "https://github.com/bark-simulator/bark",
  )

to

  _maybe(
    native.local_repository,
    name = "bark_project",
    path = "/LOCAL/PATH/TO/BARK"
  )

[tinmodeHuang]

I just have verified your conjecture, that is right. In addition, I want to post another new issue to learn more about debugging

[patrickhart]

As this issue seems resolved I will close it now.