How to use the unicycle planner to replay native vehicle trajectories?

[TheNeeloy]

Hi, are there instructions for how to set the other agents in the simulator to use the unicycle planner to replay the native vehicles' trajectories? I don't think I saw examples of how to do this in the codebase. I'm specifically using the NuScenes environment. I understand from #10 #12 #26 and #44 that the code for the unicycle model has been released. Thanks so much for your time!

[TheNeeloy]

I figured out how to replay the native trajectories on the nuscenes dataset.
I followed the scenario config found at configs/benchmark/nuscenes/scene-0013-easy-00.yaml.

mode: unicycle_00
plan_list: 
- - 0.0 # x pos is not used in unicycle planner
  - 0.0 # y pos is not used in unicycle planner
  - -0.3 # height
  - 0.0 # start yaw is not used in unicycle planner
  - 0.0 # start velo is not used in unicycle planner
  - "2024_07_05_10_58_02" # 3DRealCar id
  - UnicyclePlanner # planner type
  - uc_id: "6e298f45ca39473887bfe3df4a71e34f" # unicycle model id
    speed: 0.6 # replay speed ratio, 1.0 is original speed in datasets 
load_HD_map: false
start_euler:
- 0.0
- 0.0
- 0.0
start_ab:
- 0.0
- 0.0
start_velo: 1
start_steer: 0
scene_name: scene-0013
iteration: 30000

uc_id is found in the hugsim dataset at <hugsim_data_root>/scenes/nuscenes/scene-0013/unicycle_6e298f45ca39473887bfe3df4a71e34f.pth

By running the following script with the LTF policy, I generated this prediction output:

sim_cuda=0
ad_cuda=0

# change this variable as the scenario path on your machine
cfg="/work/hdd/beje/neeloyc2/hugsim_data/scenarios/nuscenes/scene-0013-unicycle-00.yaml"  # Unicycle config

CUDA_VISIBLE_DEVICES=${sim_cuda} \
python closed_loop.py --scenario_path ${cfg} \
                    --base_path ./configs/sim/nuscenes_base.yaml \
                    --camera_path ./configs/sim/nuscenes_camera.yaml \
                    --kinematic_path ./configs/sim/kinematic.yaml \
                    --ad ltf \
                    --ad_cuda ${ad_cuda}

video.mp4

Is there a way to evaluate with the native vehicle trajectories on the other datasets besides NuScenes? I don't think I found similar unicycle_####.pth files in those datasets.