main.py

from metadrive.metadrive.envs import MetaDriveEnv
from scipy.interpolate import CubicHermiteSpline
import numpy as np
import mpc 

render = False

env = MetaDriveEnv(dict(
        traffic_mode="respawn", map="O", use_render=render))       

obs, info = env.reset()
drawer = env.engine.make_point_drawer(scale=1) # create a point drawer
full_spline = mpc.ClassMPC.get_splines_to_destination(env.vehicle, drawer)

mpc = mpc.ClassMPC(full_spline)

for i in range(10000):
    action = mpc.find_action(env.vehicle, drawer) # calls mpc solver

    obs, reward, terminated, truncated, info = env.step(action)

#     env.render(mode="render",
#     scaling=None,
#     film_size=(500, 500),
#     screen_size=(1500, 500),
#     # target_vehicle_heading_up=True,
#     camera_position=(0,0),
#     screen_record=False,
#     window=True,
#     text={"episode_step": env.engine.episode_step,
#             "mode": "Trigger"})
    
    if terminated or truncated:
            obs, info = env.reset()
env.close()