def GenerateRuntime():
# parameters
param_server = ParameterServer()
# configure both lanes of the highway. the right lane has one controlled agent
left_lane = CustomLaneCorridorConfig(params=param_server,
lane_corridor_id=0,
road_ids=[0, 1],
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("DR_DEU_Merging_MT_v01_shifted"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
env = Runtime(step_time=0.2,
viewer=viewer,
scenario_generator=scenarios,
render=True,
maintain_world_history=True)
return env
road_ids=[0, 1],
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("DR_DEU_Merging_MT_v01_centered"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(
params=param_server,
# x_range=[-35, 35],
# y_range=[-35, 35],
follow_agent_id=False)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
LaneCorridorConfig(
params=param_server,
source_pos=[3, -30],
sink_pos=[-30, 3],
behavior_model=BehaviorIntersectionRuleBased(param_server),
controlled_ids=True,
min_vel=5.,
max_vel=5.,
ds_min=5.,
ds_max=10.,
s_min=15.,
s_max=30.))
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("threeway_intersection"),
random_seed=0,
params=param_server,
lane_corridor_configs=lane_corridors)
viewer = BufferedViewer()
env = Runtime(step_time=0.2,
viewer=viewer,
scenario_generator=scenarios,
render=True,
maintain_world_history=True)
# run BARKSCAPE
logger = logging.getLogger()
bark_server = BaseServer(runner=BARKRunner,
runnable_object=env,
# configure both lanes of the highway. the right lane has one controlled agent
left_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=0)
right_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=1,
controlled_ids=True)
# create 5 scenarios
scenarios = \
ConfigWithEase(
num_scenarios=5,
map_file_name=Data.xodr_data("city_highway_straight"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-75, 75],
y_range=[-75, 75],
follow_agent_id=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor", "execution in real-time or faster", 0.5]
road_ids=[0, 1],
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("DR_DEU_Merging_MT_v01_shifted"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = BufferedMPViewer(params=param_server)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation", 0.2]
sim_real_time_factor = param_server["simulation"][
"real_time_factor", "execution in real-time or faster", 1.]
# viewer = VideoRenderer(renderer=viewer,
# world_step_time=sim_step_time,
# fig_path="/Users/hart/2019/bark/video")
# configure both lanes of the highway. the right lane has one controlled agent
left_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=0)
right_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=1,
controlled_ids=True)
# create 5 scenarios
scenarios = \
ConfigWithEase(
num_scenarios=5,
map_file_name=Data.xodr_data("city_highway_straight"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-75, 75],
y_range=[-75, 75],
follow_agent_id=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor",