完善项目目录结构

Env/scenario_env.py

@@ -100,33 +100,13 @@ class MultiAgentScenarioEnv(ScenarioEnv):
         for scenario_id in _obj_to_clean_this_frame:
             self.engine.traffic_manager.current_traffic_data.pop(scenario_id)
 
-        # Fix: Ensure all objects are cleared properly before reset
-        # Instead of manually clearing, we just let the engine handle it, but we might need to 
-        # ensure no stale references in managers.
-        
-        # The error "KeyError" in clear_objects usually means we are trying to clear an object 
-        # that is already gone from _spawned_objects but still tracked by a manager.
-        
-        # Try to clear only objects that actually exist in the engine
-        # existing_objects = list(self.engine.get_objects().keys())
-        # if existing_objects:
-        #      self.engine.clear_objects(existing_objects)
-        
-        # Force clear agent manager's spawned objects to avoid stale references
-        if hasattr(self.engine, 'agent_manager') and self.engine.agent_manager:
-            # Check if it's ScenarioAgentManager or VehicleAgentManager
-            # ScenarioAgentManager might not have spawned_objects directly exposed or named differently
-            # But BaseAgentManager usually has it.
-            # If it's ScenarioAgentManager, it might be using a different structure.
-            
-            # Safe clear for BaseAgentManager subclasses
-            if hasattr(self.engine.agent_manager, 'spawned_objects'):
-                self.engine.agent_manager.spawned_objects.clear()
-            
-            # Also clear active_objects if present (VehicleAgentManager uses this)
-            if hasattr(self.engine.agent_manager, '_active_objects'):
-                self.engine.agent_manager._active_objects.clear()
-                
+        # Clear vehicles we spawned via engine.spawn_object() so _object_clean_check() passes
+        ids_to_clear = [v.id for v in self.controlled_agents.values()]
+        if ids_to_clear:
+            self.engine.clear_objects(ids_to_clear)
+        self.controlled_agents.clear()
+        self.controlled_agent_ids.clear()
+
         self.engine.reset()
         self.reset_sensors()
         self.engine.taskMgr.step()
@@ -141,9 +121,6 @@ class MultiAgentScenarioEnv(ScenarioEnv):
         self.episode_rewards = defaultdict(float)
         self.episode_lengths = defaultdict(int)
 
-        self.controlled_agents.clear()
-        self.controlled_agent_ids.clear()
-
         super().reset(seed)  # 初始化场景
         self._spawn_controlled_agents()
 
@@ -217,6 +194,7 @@ class MultiAgentScenarioEnv(ScenarioEnv):
                 self.controlled_agents[agent_id].before_step(action)
 
         self.engine.step()
+        self.engine.after_step()
 
         for agent_id in action_dict:
             if agent_id in self.controlled_agents: