Remove seaborn (mirror #750) (#808)

* remove seaborn

* format

* Fix

* remove

* fix

* format

* Fix a test

* fix bug

* fix

---------

Co-authored-by: Maxime Desroches <[email protected]>

metadrive/base_class/base_object.py

@@ -1,22 +1,20 @@
 import copy
-from abc import ABC
-from metadrive.engine.logger import get_logger
-from metadrive.type import MetaDriveType
-
-import logging
 import math
+from abc import ABC
 from typing import Dict
 
 import numpy as np
-import seaborn as sns
 from panda3d.bullet import BulletWorld, BulletBodyNode, BulletVehicle
 from panda3d.core import LVector3, NodePath, PandaNode
-from metadrive.constants import Semantics, CameraTagStateKey
+
 from metadrive.base_class.base_runnable import BaseRunnable
 from metadrive.constants import ObjectState
+from metadrive.constants import Semantics, CameraTagStateKey, get_color_palette
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.engine.core.physics_world import PhysicsWorld
+from metadrive.engine.logger import get_logger
 from metadrive.engine.physics_node import BaseRigidBodyNode, BaseGhostBodyNode
+from metadrive.type import MetaDriveType
 from metadrive.utils import Vector
 from metadrive.utils import get_np_random
 from metadrive.utils import random_string
@@ -151,8 +149,8 @@ def __init__(self, name=None, random_seed=None, config=None, escape_random_seed_
                 self.loader.__init__()
 
         # add color setting for visualization
-        color = sns.color_palette("colorblind")
-        color.remove(color[2])  # Remove the green and leave it for special vehicle
+        color = get_color_palette()
+        color.pop(2)  # Remove the green and leave it for special vehicle
         idx = get_np_random().randint(len(color))
         rand_c = color[idx]
         self._panda_color = rand_c

metadrive/component/traffic_participants/cyclist.py

@@ -3,7 +3,7 @@
 
 from metadrive.component.traffic_participants.base_traffic_participant import BaseTrafficParticipant
 from metadrive.constants import CollisionGroup
-from metadrive.constants import MetaDriveType, Semantics
+from metadrive.constants import MetaDriveType, Semantics, get_color_palette
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.engine.physics_node import BaseRigidBodyNode
 
@@ -92,7 +92,6 @@ def __init__(self, position, heading_theta, random_seed, name=None, **kwargs):
 
             # Add some color to help debug
             from panda3d.core import Material, LVecBase4
-            import seaborn as sns
 
             show_contour = self.config["show_contour"] if "show_contour" in self.config else False
             if show_contour:
@@ -144,7 +143,7 @@ def __init__(self, position, heading_theta, random_seed, name=None, **kwargs):
                 line_np.setMaterial(line_material, True)
                 line_np.reparentTo(self.origin)
 
-            color = sns.color_palette("colorblind")
+            color = get_color_palette()
             color.remove(color[2])  # Remove the green and leave it for special vehicle
             idx = 0
             rand_c = color[idx]
@@ -179,8 +178,7 @@ def reset(self, position, heading_theta: float = 0., random_seed=None, name=None
 
             # Add some color to help debug
             from panda3d.core import Material, LVecBase4
-            import seaborn as sns
-            color = sns.color_palette("colorblind")
+            color = list(COLOR_PALETTE)
             color.remove(color[2])  # Remove the green and leave it for special vehicle
             idx = 0
             rand_c = color[idx]

metadrive/component/traffic_participants/pedestrian.py

@@ -7,7 +7,7 @@
 from panda3d.core import LineSegs, NodePath
 
 from metadrive.component.traffic_participants.base_traffic_participant import BaseTrafficParticipant
-from metadrive.constants import MetaDriveType, Semantics
+from metadrive.constants import MetaDriveType, Semantics, get_color_palette
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.engine.physics_node import BaseRigidBodyNode
 from metadrive.utils.math import norm
@@ -171,7 +171,6 @@ def __init__(self, position, heading_theta, width, length, height, random_seed=N
 
             # Add some color to help debug
             from panda3d.core import Material
-            import seaborn as sns
 
             show_contour = self.config["show_contour"] if "show_contour" in self.config else False
             if show_contour:
@@ -223,7 +222,7 @@ def __init__(self, position, heading_theta, width, length, height, random_seed=N
                 line_np.setMaterial(line_material, True)
                 line_np.reparentTo(self.origin)
 
-            color = sns.color_palette("colorblind")
+            color = get_color_palette()
             color.remove(color[2])  # Remove the green and leave it for special vehicle
             idx = 0
             rand_c = color[idx]

metadrive/component/vehicle/base_vehicle.py

@@ -4,7 +4,6 @@
 from typing import Union, Optional
 
 import numpy as np
-import seaborn as sns
 from panda3d._rplight import RPSpotLight
 from panda3d.bullet import BulletVehicle, BulletBoxShape, ZUp
 from panda3d.core import Material, Vec3, TransformState
@@ -17,7 +16,7 @@
 from metadrive.component.lane.straight_lane import StraightLane
 from metadrive.component.navigation_module.node_network_navigation import NodeNetworkNavigation
 from metadrive.component.pg_space import VehicleParameterSpace, ParameterSpace
-from metadrive.constants import CamMask
+from metadrive.constants import CamMask, get_color_palette
 from metadrive.constants import MetaDriveType, CollisionGroup
 from metadrive.constants import Semantics
 from metadrive.engine.asset_loader import AssetLoader
@@ -1021,7 +1020,7 @@ def lane_index(self):
     def panda_color(self):
         c = super(BaseVehicle, self).panda_color
         if self._use_special_color:
-            color = sns.color_palette("colorblind")
+            color = get_color_palette()
             rand_c = color[2]  # A pretty green
             c = rand_c
         return c

metadrive/constants.py

@@ -553,3 +553,17 @@ class CameraTagStateKey:
 
 DEFAULT_SENSOR_OFFSET = (0., 0.8, 1.5)
 DEFAULT_SENSOR_HPR = (0., -5, 0.0)
+
+COLOR_PALETTE = (
+    (0.00392156862745098, 0.45098039215686275,
+     0.6980392156862745), (0.8705882352941177, 0.5607843137254902, 0.0196078431372549),
+    (0.00784313725490196, 0.6196078431372549, 0.45098039215686275), (0.8352941176470589, 0.3686274509803922, 0.0),
+    (0.8, 0.47058823529411764, 0.7372549019607844), (0.792156862745098, 0.5686274509803921, 0.3803921568627451),
+    (0.984313725490196, 0.6862745098039216,
+     0.8941176470588236), (0.5803921568627451, 0.5803921568627451, 0.5803921568627451),
+    (0.9254901960784314, 0.8823529411764706, 0.2), (0.33725490196078434, 0.7058823529411765, 0.9137254901960784)
+)
+
+
+def get_color_palette():
+    return list(COLOR_PALETTE)

metadrive/envs/multigoal_intersection.py

@@ -9,14 +9,13 @@
 
 import gymnasium as gym
 import numpy as np
-import seaborn as sns
 
 from metadrive.component.navigation_module.node_network_navigation import NodeNetworkNavigation
 from metadrive.component.pg_space import ParameterSpace, Parameter, DiscreteSpace, BoxSpace
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.intersection import InterSectionWithUTurn
 from metadrive.component.road_network import Road
-from metadrive.constants import DEFAULT_AGENT
+from metadrive.constants import DEFAULT_AGENT, get_color_palette
 from metadrive.engine.logger import get_logger
 from metadrive.envs.metadrive_env import MetaDriveEnv
 from metadrive.manager.base_manager import BaseManager
@@ -208,7 +207,7 @@ def __init__(self):
         vehicle_config = config["vehicle_config"]
         self.navigations = {}
         navi = NodeNetworkNavigation
-        colors = sns.color_palette("colorblind")
+        colors = [get_color_palette()[c] for c in range(len(self.GOALS))]
         for c, (dest_name, road) in enumerate(self.GOALS.items()):
             self.navigations[dest_name] = navi(
                 # self.engine,
@@ -659,9 +658,6 @@ def reset(self, *args, **kwargs):
                 print('=======================')
 
             if done:
-
-                import numpy as np
-
                 # for t in range(i):
                 #     # avg = [v[t] for k, v in obs_recorder.items()]
                 #     v = np.stack([v[0] for k, v in obs_recorder.items()])

metadrive/examples/run_scenario_online_env.py

@@ -8,8 +8,7 @@
 """
 import pathlib
 
-import seaborn as sns
-
+from metadrive.constants import get_color_palette
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.envs.scenario_env import ScenarioOnlineEnv
 from metadrive.policy.replay_policy import ReplayEgoCarPolicy
@@ -41,6 +40,6 @@
 
                 if i == 999:
                     raise ValueError("Can not arrive dest")
-            assert env.agent.panda_color == sns.color_palette("colorblind")[2]
+            assert env.agent.panda_color == get_color_palette()[2]
     finally:
         env.close()

metadrive/tests/test_env/test_metadrive_env.py

@@ -1,12 +1,11 @@
 import copy
-import seaborn as sns
 import os
 
 import numpy as np
 import pytest
 
 from metadrive import MetaDriveEnv
-from metadrive.constants import TerminationState
+from metadrive.constants import TerminationState, get_color_palette
 
 # Key: scenario name, value: environmental config
 blackbox_test_configs = dict(
@@ -60,7 +59,7 @@ def test_pgdrive_env_blackbox(config):
     env = MetaDriveEnv(config=cfg)
     try:
         obs, _ = env.reset()
-        assert env.agent.panda_color == sns.color_palette("colorblind")[2]
+        assert env.agent.panda_color == get_color_palette()[2]
         assert env.observation_space.contains(obs)
         _act(env, env.action_space.sample())
         for x in [-1, 0, 1]:

metadrive/tests/test_env/test_scenario_online_env.py

@@ -1,16 +1,12 @@
+import pathlib
+
 import pytest
-import seaborn as sns
-import numpy as np
 
+from metadrive.constants import get_color_palette
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.envs.scenario_env import ScenarioOnlineEnv
-from metadrive.policy.idm_policy import TrajectoryIDMPolicy
 from metadrive.policy.replay_policy import ReplayEgoCarPolicy
 from metadrive.scenario.utils import read_dataset_summary, read_scenario_data
-import pickle
-import pathlib
-
-from metadrive.policy.replay_policy import ReplayEgoCarPolicy
 
 
 @pytest.mark.parametrize("data_directory", ["waymo", "nuscenes"])
@@ -40,7 +36,7 @@ def test_scenario_online_env(data_directory, render=False):
 
                 if i == 999:
                     raise ValueError("Can not arrive dest")
-            assert env.agent.panda_color == sns.color_palette("colorblind")[2]
+            assert env.agent.panda_color == get_color_palette()[2]
     finally:
         env.close()
 

metadrive/tests/test_env/test_waymo_env.py

@@ -1,7 +1,7 @@
-import pytest
-import seaborn as sns
 import numpy as np
+import pytest
 
+from metadrive.constants import get_color_palette
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.envs.scenario_env import ScenarioEnv
 from metadrive.policy.idm_policy import TrajectoryIDMPolicy
@@ -38,7 +38,7 @@ def test_waymo_env(policy, render=False, num_scenarios=3):
 
                 if i == 999:
                     raise ValueError("Can not arrive dest")
-            assert env.agent.panda_color == sns.color_palette("colorblind")[2]
+            assert env.agent.panda_color == get_color_palette()[2]
     finally:
         env.close()
 

metadrive/tests/test_functionality/test_nondeterminism.py

@@ -4,15 +4,12 @@
 
 Usage: run this file. or pytest.
 """
-import copy
-import os
+
+from collections import defaultdict
 
 import numpy as np
-import pandas as pd
 import pytest
-import seaborn as sns
-from metadrive import MetaDriveEnv
-from metadrive.constants import TerminationState
+
 from metadrive.envs.metadrive_env import MetaDriveEnv
 from metadrive.examples.ppo_expert.numpy_expert import expert
 
@@ -46,22 +43,21 @@ def assert_dict_almost_equal(dict1, dict2, tol=1e-3):
 
 
 def are_traces_deterministic(traces) -> bool:
-    df = pd.DataFrame(traces)
-
-    # grouping by repetition to get a list of traces
-    traces = df.groupby("repetition")
-
-    # drop index and repetition ID to compare only step info later
-    stripped_traces = [trace.reset_index(drop=True).drop("repetition", axis=1) for _, trace in traces]
+    # Group traces by repetition
+    grouped_traces = defaultdict(list)
+    for trace in traces:
+        repetition_id = trace["repetition"]
+        grouped_traces[repetition_id].append({k: v for k, v in trace.items() if k != "repetition"})
 
-    # iterate over each trace and check if it is equal to the first one
-    are_equal_to_first_trace = [trace.equals(stripped_traces[0]) for trace in stripped_traces]
+    # Convert traces to lists of dictionaries
+    stripped_traces = [sorted(group, key=lambda x: sorted(x.items())) for group in grouped_traces.values()]
 
-    first_trace = stripped_traces[0].to_dict()
+    # Compare each trace list to the first one
+    first_trace = stripped_traces[0]  # This is a list of dictionaries
     for trace in stripped_traces:
-        # Assert
-        trace = trace.to_dict()
-        assert_dict_almost_equal(first_trace, trace)
+        assert len(trace) == len(first_trace)
+        for i in range(len(first_trace)):
+            assert_dict_almost_equal(first_trace[i], trace[i])
 
 
 @pytest.mark.parametrize(

metadrive/tests/test_functionality/test_obs_noise.py

@@ -11,6 +11,7 @@
 
 
 def _act(env, action):
+    action = np.asarray(action, dtype=env.action_space.dtype)
     assert env.action_space.contains(action)
     obs, reward, terminated, truncated, info = env.step(action)
     assert env.observation_space.contains(obs)

setup.py

@@ -43,7 +43,6 @@ def is_win():
     "matplotlib",
     "pygame",
     "yapf",
-    "seaborn",
     "tqdm",
     "progressbar",
     # "panda3d==1.10.8",