Rename dynamics/geometry fields for clarity (accel_*, *_size) + consolidate corner/coef code#486
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- Renamed `idm_lane_segment_length` to `idm_lane_segment_size` for consistency. - Updated references to `segment_length` to `segment_size` across multiple files to reflect the new naming convention. - Changed agent acceleration variables from `a_long` and `a_lat` to `accel_long` and `accel_lat` for clarity. - Adjusted traffic control state checks from `state_length` to `state_size` to maintain consistency. - Updated visualization code to use the new variable names for agent dynamics.
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Pull request overview
This PR performs a behavior-preserving refactor across the Drive C simulator and its Python/viz consumers to improve naming clarity (accel_*, *_size) and consolidate duplicated geometry/dynamics helper code.
Changes:
- Renames dynamics fields (
a_long/a_lat→accel_long/accel_lat) and various length/count fields (*_length→*_size) across C, bindings, viz, and notebooks. - Consolidates duplicated math/utilities (shared
compute_agent_corners, shared velocity/accel/jerk zeroing, table-driven reward coefficient sampling). - Tightens/renames stop-line related macros and updates stop-line / traffic-light logic call sites.
Reviewed changes
Copilot reviewed 11 out of 11 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| pufferlib/viz.py | Updates observation decoding/labels to accel_long/accel_lat. |
| pufferlib/ocean/env_binding.h | Updates HTML-frame observation export to use renamed accel fields and state_size. |
| pufferlib/ocean/drive/visualize.c | Updates trajectory loop to use trajectory_size. |
| pufferlib/ocean/drive/render.h | Updates road/traffic loops and variable naming to use *_size. |
| pufferlib/ocean/drive/idm.h | Switches IDM corner computation to shared helper; renames segment/state fields; updates stop-line macros. |
| pufferlib/ocean/drive/drive.h | Main refactor/renames, consolidations, macro updates, map load error handling changes. |
| pufferlib/ocean/drive/datatypes.h | Renames struct fields (trajectory_size, segment_size, state_size), adds Agent.id, updates comments/macros. |
| pufferlib/ocean/drive/binding.c | Updates Python dict export keys/fields to renamed *_size and accel fields. |
| notebooks/notebook_utils.py | Updates feature name lists to accel naming. |
| notebooks/05_inference.py | Updates labels/comments and plot indices for accel naming. |
| notebooks/01_observations.py | Updates feature lists, titles, and comments for accel naming. |
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eugenevinitsky
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Jun 15, 2026
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This is a good PR! Left some comments
…d update references
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What
Naming cleanup + small consolidations in the C sim, with matching updates in notebooks and viz. No behavioral change — pure refactor.
Renames
a_long/a_lat→accel_long/accel_lat(struct field, obs, rewards, comfort metric, IDM, binding, html-frame, notebooks,viz.py).trajectory_length→trajectory_size,segment_length→segment_size,state_length→state_sizeonAgent/RoadMapElement/TrafficControlElement, with all consumers updated.TRAFFIC_LIGHT_DISTANCE_THRESHOLD→STOP_LINE_DIST_SQ(now pre-squared10*10),RED_LIGHT_HEADING_THRESHOLD→STOP_LINE_HEADING_THRESHOLD.idm_lane_segment_length→idm_lane_segment_size; loop vartraffic→tcin load/check/generate paths.Agent.id(read from the map binary instead of a throwaway local).Consolidations (behavior-preserving)
check_obb_collisionand IDM now use the sharedcompute_agent_cornersinstead of inlined box math (SAT is corner-order independent → identical result). Drops the duplicateidm_agent_corners.zero_agent_velocity_state(agent)for the repeated velocity/accel/jerk zeroing ininvalidate_agentand the stopped-agent branch ofmove_dynamics.generate_reward_coefs: the uniform-sampled coefficients now loop over an index table instead of 12 copy-pasted calls.init()now checksload_map_binary's return and bails with an explicit error instead of ignoring it.Removed
compute_lane_length(one-line wrapper) — callers uselane->lengthdirectly.num_target_waypointsupper-bound recheck incompute_goals(already clamped at the config boundary indrive.pyandbinding.c).Why
Consistent, unit-bearing names (
accel_*,*_size) and removal of duplicated corner/coef code; macro names now reflect that the check is about stop lines, not just traffic lights.Testing
python setup.py build_ext --inplace --forcebuilds clean (only a pre-existingfscanfwarning in untouched load code).🤖 Generated with Claude Code