bug fixed

Author: WCJ-BERT

.github/pull_request_template.md

@@ -50,8 +50,8 @@ Relates to #
 
 <!-- Describe the tests you ran to verify your changes -->
 
-- [ ] Ran scripts/quick_test.sh successfully
-- [ ] Ran scripts/multigpu_quick_test.sh successfully (if applicable)
+- [ ] Ran scripts/closed_loop_test.sh successfully
+- [ ] Ran scripts/multigpu_closed_loop_test.sh successfully (if applicable)
 - [ ] Added new unit tests
 - [ ] All existing tests pass
 - [ ] Manual testing performed

.github/workflows/tests.yml

@@ -67,8 +67,8 @@ jobs:
           echo "  - Significant compute resources"
           echo ""
           echo "These tests should be run manually using:"
-          echo "  bash scripts/quick_test.sh"
-          echo "  bash scripts/multigpu_quick_test.sh"
+          echo "  bash scripts/closed_loop_test.sh"
+          echo "  bash scripts/multigpu_closed_loop_test.sh"
           echo ""
           echo "Consider setting up self-hosted runners for automated GPU testing."
 

CONTRIBUTING.md

@@ -56,7 +56,7 @@ By participating in this project, you agree to abide by our [Code of Conduct](CO
 5. **Verify installation**:
    ```bash
    # Run quick test
-   bash scripts/quick_test.sh
+   bash scripts/closed_loop_test.sh
    ```
 
 ## Development Workflow
@@ -168,10 +168,10 @@ Before submitting a pull request, ensure all tests pass:
 
 ```bash
 # Run quick test
-bash scripts/quick_test.sh
+bash scripts/closed_loop_test.sh
 
 # Run distributed test (multi-GPU)
-bash scripts/multigpu_quick_test.sh
+bash scripts/multigpu_closed_loop_test.sh
 ```
 
 ### Writing Tests

README.md

@@ -166,10 +166,10 @@ Verify your installation with a pre-trained model:
 export WORLDENGINE_ROOT=$(pwd)
 
 # Option 1: Single GPU test 
-bash scripts/quick_test.sh
+bash scripts/closed_loop_test.sh
 
 # Option 2: Multi-GPU test (Default 8 GPUs)
-bash scripts/multigpu_quick_test.sh
+bash scripts/multigpu_closed_loop_test.sh
 ```
 
 **What this does:**

docs/quick_start.md

@@ -35,7 +35,7 @@ cd /path/to/WorldEngine
 export WORLDENGINE_ROOT=$(pwd)
 
 # Run quick test
-bash scripts/quick_test.sh
+bash scripts/closed_loop_test.sh
 ```
 
 **Expected output:**
@@ -60,7 +60,7 @@ cd /path/to/WorldEngine
 export WORLDENGINE_ROOT=$(pwd)
 
 # Run multi-GPU quick test (8 splits in parallel)
-bash scripts/multigpu_quick_test.sh
+bash scripts/multigpu_closed_loop_test.sh
 ```
 
 **Expected output:**
@@ -77,7 +77,7 @@ Results merged to: experiments/closed_loop_exps/e2e_vadv2_50pct/navtest_failures
 
 **Time:** ~2-3 minutes with 8 GPUs
 
-**Note:** If you have fewer than 8 GPUs, edit `scripts/multigpu_quick_test.sh` and change the loop `{0..7}` to match your GPU count (e.g., `{0..3}` for 4 GPUs).
+**Note:** If you have fewer than 8 GPUs, edit `scripts/multigpu_closed_loop_test.sh` and change the loop `{0..7}` to match your GPU count (e.g., `{0..3}` for 4 GPUs).
 
 ---
 
@@ -129,7 +129,7 @@ For more details on the testing pipeline, see:
 
 ### Change Test Scenarios
 
-Edit `scripts/quick_test.sh` to test on different scenarios:
+Edit `scripts/closed_loop_test.sh` to test on different scenarios:
 
 ```bash
 # Original (navtest rare cases num: 288)
@@ -147,7 +147,7 @@ bash scripts/run_testing.sh \
 
 ### Change Model Checkpoint
 
-Edit the checkpoint path in `scripts/quick_test.sh`:
+Edit the checkpoint path in `scripts/closed_loop_test.sh`:
 
 ```bash
 bash scripts/run_testing.sh \

projects/AlgEngine/mmdet3d_plugin/datasets/navsim_openscene_nuplan.py

@@ -672,12 +672,12 @@ def update_canbus(self, input_dict, index):
         sdc_loc_lidar = input_dict["e2l"] @ sdc_loc_ego
 
         # Rotation
-        if "ego2global" in info:
+        if "ego2global_rotation" in info:
+            e2g_r = info["ego2global_rotation"]
+            sdc_rot_global_quat = Quaternion(e2g_r)
+        else:
             e2g_r_mat = info["ego2global"][:3, :3]
             sdc_rot_global_quat = Quaternion(matrix=e2g_r_mat)
-        else:
-            e2g_r = info.get("ego2global_rotation", [1, 0, 0, 0])
-            sdc_rot_global_quat = Quaternion(e2g_r)
 
         sdc_rot_global_ele = sdc_rot_global_quat.elements
         yaw_angle_global = quaternion_yaw(sdc_rot_global_quat) / np.pi * 180

scripts/quick_test.sh scripts/closed_loop_test.shscripts/quick_test.sh renamed to scripts/closed_loop_test.sh

@@ -1,6 +1,5 @@
 # export WORLDENGINE_ROOT="/path/to/your/WorldEngine"
 
-# Default 8 GPUs, you can change it to 4 or 2 if you have fewer GPUs
 bash projects/SimEngine/scripts/run_ray_distributed_testing.sh \
     $WORLDENGINE_ROOT/projects/AlgEngine/configs/worldengine/e2e_vadv2_50pct.py \
     $WORLDENGINE_ROOT/data/alg_engine/ckpts/e2e_vadv2_50pct_ep8.pth \