Draft: Add source change needed by running CoC auto-labeling pipeline (review only, do not merge)

src/trajdata/dataset_specific/mads/__init__.py

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+# SPDX-FileCopyrightText: Copyright (c) <2026> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# 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.
+#
+
+"""MADS dataset package exports."""
+
+from .mads_dataset import MADSDataset
+
+__all__ = ["MADSDataset"]

src/trajdata/dataset_specific/mads/constant.py

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+# SPDX-FileCopyrightText: Copyright (c) <2026> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# 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.
+#
+
+"""Constants and enums for the MADS dataset loader."""
+
+import os
+from enum import Enum
+from typing import Final, FrozenSet, Optional
+
+# Core dataset timing/config constants.
+MADS_DT: Final[float] = 0.1
+EGO_LENGTH: Final[float] = 5.2993629
+EGO_WIDTH: Final[float] = 2.11311007
+EGO_HEIGHT: Final[float] = 1.34435794
+
+# by default, we support v2 data, version clipgt-2.0.0, clipgt-2.3.0 and above.
+DATA_SRC: Final[str] = "v2"
+
+# Allowed MADS data source tags.
+SUPPORTED_DATA_SRCS: Final[FrozenSet[str]] = frozenset({"v2", "pai"})
+
+# Environment variable name for runtime override.
+DATA_SRC_ENV_VAR: Final[str] = "MADS_DATA_SRC"
+
+
+def resolve_data_src(cli_override: Optional[str] = None) -> str:
+    """Resolve dataset source with priority: CLI override > env var > default."""
+    candidate = (cli_override or os.getenv(DATA_SRC_ENV_VAR) or DATA_SRC).strip()
+    if candidate not in SUPPORTED_DATA_SRCS:
+        supported = ", ".join(sorted(SUPPORTED_DATA_SRCS))
+        raise ValueError(
+            f"Unsupported data source '{candidate}'. "
+            f"Supported values: {supported}."
+        )
+    return candidate
+
+# Minimum frames for an agent to be considered.
+MIN_FRAMES: Final[int] = 10
+
+
+
+class ObstacleClassV1(Enum):
+    """Obstacle classes for MADS."""
+
+    # buf:lint:ignore ENUM_ZERO_VALUE_SUFFIX
+    OBSTACLE_CLASS_INVALID = 0
+    # Vehicles
+    OBSTACLE_CLASS_VEHICLE_UNKNOWN = 1280
+    OBSTACLE_CLASS_VEHICLE_CAR = 1281
+    OBSTACLE_CLASS_VEHICLE_TRUCK = 1282
+    OBSTACLE_CLASS_VEHICLE_BUS = 1283
+    OBSTACLE_CLASS_VEHICLE_EMERGENCY = 1284
+    OBSTACLE_CLASS_VEHICLE_CONSTRUCTION = 1285
+    OBSTACLE_CLASS_VEHICLE_POLICE = 1286
+    OBSTACLE_CLASS_VEHICLE_SCHOOL_BUS = 1287
+    # Two wheeled vehicles
+    OBSTACLE_CLASS_BIKE_UNKNOWN = 2304
+    OBSTACLE_CLASS_BIKE = 2305
+    OBSTACLE_CLASS_BIKE_MOTOR = 2306
+    # Two wheeled vehicles with rider
+    OBSTACLE_CLASS_BIKE_UNKNOWN_WITH_RIDER = 2307
+    OBSTACLE_CLASS_BIKE_WITH_RIDER = 2308
+    OBSTACLE_CLASS_BIKE_MOTOR_WITH_RIDER = 2309
+    OBSTACLE_CLASS_TRICYCLE = 2310
+    # Pedestrians
+    OBSTACLE_CLASS_PEDESTRIAN_UNKNOWN = 4352
+    OBSTACLE_CLASS_PEDESTRIAN_ADULT = 4353
+    OBSTACLE_CLASS_PEDESTRIAN_CHILD = 4354
+    OBSTACLE_CLASS_PEDESTRIAN_CONSTRUCTION_WORKER = 4355
+    OBSTACLE_CLASS_PEDESTRIAN_OFFICIAL = 4356
+    # Animals
+    OBSTACLE_CLASS_ANIMAL_UNKNOWN = 8448
+    OBSTACLE_CLASS_ANIMAL_SMALL = 8449
+    OBSTACLE_CLASS_ANIMAL_MEDIUM = 8450
+    OBSTACLE_CLASS_ANIMAL_LARGE = 8451
+    # Objects
+    OBSTACLE_CLASS_OBJECT_UNKNOWN = 16384
+    OBSTACLE_CLASS_OBJECT_HAZARD = 16385
+    OBSTACLE_CLASS_OBJECT_OFFICIAL = 16386
+    OBSTACLE_CLASS_OBJECT_CONE = 16387
+    OBSTACLE_CLASS_OBJECT_CURB = 16388
+    OBSTACLE_CLASS_OBJECT_BARRIER = 16389
+    OBSTACLE_CLASS_OBJECT_PHYSICAL_LANE_LINE = 16390
+    OBSTACLE_CLASS_OBJECT_HARD_OVERHANG = 16391
+    OBSTACLE_CLASS_OBJECT_SOFT_OVERHANG = 16392
+    OBSTACLE_CLASS_OBJECT_SPEED_BUMP = 16393
+    OBSTACLE_CLASS_OBJECT_POT_HOLE = 16394
+    OBSTACLE_CLASS_OBJECT_NEGATIVE = 16395
+    OBSTACLE_CLASS_OBJECT_FORBIDDEN = 16396
+    # Other
+    OBSTACLE_CLASS_UNDEFINED_STATIC = 32768
+    OBSTACLE_CLASS_UNDEFINED_ANIMATE = 33024
+    # Virtual obstacles
+    OBSTACLE_CLASS_FORBIDDEN_LANE_LINE = 513
+    OBSTACLE_CLASS_CROSSABLE_LANE_LINE = 514
+    OBSTACLE_CLASS_GORE_AREA = 515
+    OBSTACLE_CLASS_OCCLUSION = 516
+
+    @classmethod
+    def get_enum_name(cls, value: int) -> Optional[str]:
+        """Return enum member name for a numeric value, or `None` if not found."""
+        for name, member in cls.__members__.items():
+            if member.value == value:
+                return name
+        return None