Initial commit (#2)

Co-authored-by: Holger Caesar <holger.caesar@motional.com>

Author: holger-motional

.bazelrc

@@ -0,0 +1,19 @@
+build --remote_cache=http://bazel-cache.ci.motional.com:80
+build --remote_upload_local_results=false
+
+test --test_output=errors
+test --test_timeout=2400
+test --test_output=all
+test --test_env=WORKSPACE
+test --test_env=CACHE=/tmp/pyxbld
+test --test_env=PYTHONPATH
+test --test_env=AWS_ACCESS_KEY_ID
+test --test_env=AWS_SECRET_ACCESS_KEY
+
+test --test_env=NUPLAN_DATA_ROOT
+test --test_env=NUPLAN_EXP_ROOT
+test --test_env=NUPLAN_DATA_STORE
+test --test_env=NUPLAN_S3_PROFILE
+test --test_env=NUPLAN_S3_ROOT_URL
+test --test_env=NUPLAN_MAPS_S3_ROOT_URL
+test --test_env=NUPLAN_HYDRA_CONFIG_PATH

.gitignore

@@ -1 +1,28 @@
-.idea/
+*._*
+*.aux
+.bazel
+bazel-*
+*.bbl
+*.blg
+*.brf
+.coverage
+.DS_Store
+*.egg-info
+_ext
+*.gz
+.idea
+.ijwb
+*ipynb_*
+.isort.cfg
+*.jpg
+*.log
+*.o
+*.out
+*.pdf
+.project
+*.pth.tar
+*.pyc
+**/__pycache__/
+.pydevproject
+*.so
+.vscode/*

.mypy.ini

@@ -0,0 +1,5 @@
+# Global options:
+
+[mypy]
+
+# Per-module options:

.pre-commit-config.yaml

@@ -0,0 +1,72 @@
+# Exclude hidden files, init, tensorrt folders, protobuf generated files, markdown files, and DB model.py files
+exclude: ^(.*/\..*|.*__init__.py|.*tensorrt.*|.*_pb2.py|.*.md|.*.database.*.models.py)$
+default_language_version:
+  python: python3.9
+repos:
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v3.4.0
+  hooks:
+  - id: no-commit-to-branch  # Prevents direct commits to master
+  - id: check-ast  # check if valid python file
+  - id: check-merge-conflict  # check if left in merge conflict lines
+  - id: debug-statements  # check if left in debug statements
+  - id: trailing-whitespace  # remove trailing whitespace
+  - id: end-of-file-fixer  # have one line at end of file
+  - id: check-docstring-first  # File comments should come before imports
+  - id: check-json  # make sure valid json
+  - id: check-yaml  # make sure valid yaml
+  - id: name-tests-test  # check that tests start with test_*
+    args: ['--django']
+  - id: requirements-txt-fixer  # sort requirements
+  - id: check-added-large-files  # check that we're not committing big files to git, excluding lfs files.
+    args: ['--maxkb=1000']  # set max file size to 1000KB
+- repo: https://github.com/asottile/pyupgrade  # use Python3 tricks
+  rev: v2.2.0
+  hooks:
+  - id: pyupgrade
+    args: ['--keep-percent-format']
+- repo: https://github.com/asottile/seed-isort-config  # Helps isort determine third party imports
+  rev: v2.1.1
+  hooks:
+  - id: seed-isort-config
+- repo: https://github.com/pre-commit/mirrors-isort  # Sort imports, similar to PyCharm organize imports
+  rev: v4.3.21
+  hooks:
+  - id: isort
+    args: ['-l=120', '-m=2']
+- repo: https://github.com/pre-commit/mirrors-autopep8  # Autoenforce easy pep8 changes.
+  rev: v1.5.1
+  hooks:
+  - id: autopep8
+    args: ['-i', '--max-line-length=120', '--ignore=W504']  # W504 is outdated and conflicts with W503
+- repo: https://gitlab.com/pycqa/flake8  # Check for pep8. Autopep8 won't fix everything.
+  rev: 3.7.9
+  hooks:
+  - id: flake8
+    args: ['--max-line-length=120', '--ignore=W504']  # W504 is outdated and conflicts with W503
+- repo: https://github.com/aflc/pre-commit-jupyter
+  rev: v1.1.0
+  hooks:
+    - id: jupyter-notebook-cleanup
+      args:
+        - --remove-kernel-metadata
+        - --pin-patterns
+        - "[pin];[donotremove]"
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: 'v0.910'
+    hooks:
+    -   id: mypy
+        additional_dependencies:
+          - types-protobuf==3.17.4
+          - types-cachetools
+          - types-ujson
+          - types-requests
+          - numpy
+        args:
+          - --config-file=.mypy.ini
+          - --ignore-missing-imports  # silence all import errors from untyped libraries
+          - --follow-imports=silent  # follow imports but suppress all errors
+          - --strict  # enable strict flags (e.g. untyped calls, decorators, optional)
+          - --allow-subclassing-any  # allow subclassing from classes in silenced modules
+          - --show-column-numbers  # add column offsets to error messages
+          - --allow-untyped-decorators # allow decorating typed functions with untyped decorators (such as nuplan_test)

BUILD

@@ -0,0 +1,15 @@
+load("@rules_python//python:defs.bzl", "py_library")
+
+package(default_visibility = ["//visibility:public"])
+
+py_library(
+    name = "__init__",
+    srcs = ["__init__.py"],
+)
+
+filegroup(
+    name = "jenkins_env",
+    data = [
+        "requirements.txt",
+    ],
+)

Dockerfile

@@ -1,4 +1,4 @@
-FROM 233885420847.dkr.ecr.us-east-1.amazonaws.com/python:3.9.7-slim-buster
+FROM python:3.9.7-slim-buster
 
 RUN apt-get update \
     && apt-get install -y curl gnupg2 software-properties-common default-jdk

Jenkinsfile

@@ -7,9 +7,9 @@ if (env.BRANCH_NAME != null && ! env.BRANCH_NAME.matches("^(master).*")) {
 pipeline{
   agent {
     kubernetes(
-      jnlp.builder(
+      jnlp.nuplan_devkit(
         name: 'nuplan-devkit-tests',
-        builder_image: "233885420847.dkr.ecr.us-east-1.amazonaws.com/nuplan-devkit:v1.0.1",
+        tag: "v1.0.2",
         cpu: 1, maxcpu: 2,
         memory: "1G", maxmemory: "5G"))
   }

LICENSE.txt

@@ -0,0 +1,13 @@
+Copyright 2021 Motional
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

README.md

@@ -1,4 +1,89 @@
 # nuplan-devkit
 
-Welcome to the devkit of the [nuPlan](https://www.nuplan.org).
-This repo is currently under development and will be ready for the teaser release on December 10, 2021.
+Welcome to the devkit of [nuPlan](https://www.nuplan.org).
+
+![](https://www.nuplan.org/static/media/nuPlan_final.3fde7586.png)
+
+## Overview
+- [Changelog](#changelog)
+- [Teaser release](#teaser-release)
+- [Devkit structure](#devkit-structure)
+- [Devkit setup](#devkit-setup)
+- [Dataset setup](#dataset-setup)
+- [Getting started](#getting-started)
+- [Known issues](#known-issues)
+- [Citation](#citation)
+
+## Changelog
+- Dec. 10, 2021: Devkit v0.1.0: Release of the initial teaser dataset (v0.1) and corresponding devkit and maps (v0.1). See [Teaser release](#teaser-release) for more information.
+
+## Teaser release
+On Dec. 10 2021 we released the nuPlan teaser dataset and devkit. This is meant to be a **public beta** version. 
+We are aware of several limitations of the current dataset and devkit. 
+Nevertheless we have chosen to make this teaser available to the public for early consultation and to receive feedback on how to improve it.
+We appreciate your feedback as a [Github issue](https://github.com/motional/nuplan-devkit/issues).
+
+**Note:** All interfaces are subject to change for the full release! No backward compatibility can be guaranteed.
+
+Below is a list of upcoming features for the full release:
+- The teaser dataset includes 200h of data from Las Vegas, we will be releasing the full 1500h dataset that also includes data from Singapore, Boston or Pittsburgh in early 2022.
+- The full release will also include the sensor data for 150h (10% of the total dataset).
+- Localization, perception scenario tags and traffic lights will be improved in future releases.
+- The full release will have an improved dashboard, closed-loop training, advanced planning baselines, end-to-end planners, ML smart agents, RL environment, as well as more metrics and scenarios.
+
+## Devkit structure
+Our code is organized in these directories:
+```
+ci            - Continuous integration code. Not relevant for average users.
+docs          - Readmes and other documentation of the repo and dataset.
+nuplan        - The main source folder.
+    common    - Code shared by `database` and `planning`.
+    database  - The core devkit used to load and render nuPlan dataset and maps.
+    planning  - The stand-alone planning framework for simulation, training and evaluation.
+tutorials     - Interactive tutorials, see `Getting started`.
+```
+
+## Devkit setup
+Please refer to the [installation page](https://github.com/motional/nuplan-devkit/blob/master/docs/installation.md) for detailed instructions on how to setup the devkit.
+
+## Dataset setup
+To download nuPlan you need to go to the [Download page](https://nuplan.org/nuplan#download), 
+create an account and agree to the [Terms of Use](https://www.nuplan.org/terms-of-use).
+After logging in you will see multiple archives. 
+For the devkit to work you will need to download *all* archives.
+Please unpack the archives to the `~/nuplan/dataset` folder.
+Eventually you should have the following folder structure:
+```
+~/nuplan/dataset    -   The dataset folder. Can be read-only.
+    nuplan_v*.db	-	SQLite database that includes all metadata
+    maps	        -	Folder for all map files
+    <missing>       -   Sensor data will be added in the future
+~/nuplan/exp        -   The experiment and cache folder. Must have read and write access.
+```
+If you want to use another folder, you can set the corresponding [environment variable](https://github.com/motional/nuplan-devkit/blob/master/docs/installation.md) or specify the `data_root` parameter of the NuPlanDB class (see tutorial).
+
+## Getting started
+Please follow these steps to make yourself familiar with the nuScenes dataset:
+- Familiarize yourself with the main [features of nuPlan](https://www.nuplan.org) and the [dataset description](https://www.nuplan.org/nuplan).
+- Setup the [devkit](#dataset-setup) and [dataset](#dataset-setup) as described above.
+- Walk through the tutorials in [this folder](https://github.com/motional/nuplan-devkit/blob/master/tutorials/) or run them yourself using:
+```
+jupyter notebook ~/nuplan-devkit/tutorials/<filename>.ipynb
+```
+Replace &lt;filename&gt; with one of the following:
+```
+  - `nuplan_framework.ipynb`: This is the main tutorial for anyone who wants to dive right into ML planning.
+    It describes how to 1) train an ML planner, 2) simulate it, 3) measure the performance and 4) visualize the results.
+```
+- Read the [nuPlan paper](https://www.nuplan.org/publications) to understand the details behind the dataset.
+
+## Citation
+Please use the following citation when referencing [nuPlan](https://arxiv.org/abs/2106.11810):
+```
+@INPROCEEDINGS{nuplan, 
+  title={NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles},
+  author={H. Caesar, J. Kabzan, K. Tan et al.,},
+  booktitle={CVPR ADP3 workshop},
+  year=2021
+}
+```

WORKSPACE

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+workspace(name = "nuplan_devkit")