message: Integrated VideoRenderer
diff: @@ -7,11 +7,11 @@ import numpy as np
  import time
  from modules.runtime.commons.parameters import ParameterServer
  from modules.runtime.viewer.matplotlib_viewer import MPViewer
  +from modules.runtime.viewer.video_renderer import VideoRenderer
  from modules.runtime.scenario.scenario_generation.config_with_ease import \
  LaneCorridorConfig, ConfigWithEase
  from modules.runtime.runtime import Runtime
  from modules.runtime.viewer.panda3d_easy import Panda3dViewer
  -from modules.runtime.viewer.panda3d_easy import Panda3dViewer
  from bark.world.opendrive import *
  from bark.world.goal_definition import *
  @@ -64,7 +64,6 @@ class CustomLaneCorridorConfig(LaneCorridorConfig):
  lane_corr = road_corr.lane_corridors[0]
  return GoalDefinitionPolygon(road_corr.lane_corridors[0].polygon)
  -
  def behavior_model(self, world):
  return BehaviorSimpleRuleBased(self._params)
  @@ -109,10 +108,6 @@ viewer = MPViewer(params=param_server,
  # light_pose=[1000, 1000, 100000],
  # camera_pose=[1000, 980, 100])
  # gym like interface
  -env = Runtime(step_time=0.2,
  - viewer=viewer,
  - scenario_generator=scenarios,
  - render=True)
  sim_step_time = param_server["simulation"]["step_time",
  "Step-time used in simulation",
  @@ -121,10 +116,23 @@ sim_real_time_factor = param_server["simulation"]["real_time_factor",
  "execution in real-time or faster",
  1.]
  +# viewer = VideoRenderer(renderer=viewer,
  +# world_step_time=sim_step_time,
  +# fig_path="/Users/hart/2019/bark/video")
  +
  +env = Runtime(step_time=0.2,
  + viewer=viewer,
  + scenario_generator=scenarios,
  + render=True)
  +
  +
  +
  # run 3 scenarios
  for _ in range(0, 3):
  env.reset()
  # step each scenario 20 times
  - for step in range(0, 65):
  + for step in range(0, 60):
  env.step()
  time.sleep(sim_step_time/sim_real_time_factor)
  +
  +# viewer.export_video(filename="/Users/hart/2019/bark/video/video", remove_image_dir=True)
  