def _test_scenario(self, scenario_idx, num_steps, visualize, viewer):
logging.info("Running scenario {} of {} in set {}".format(scenario_idx,
self._scenario_generator.num_scenarios,
self._set_name))
try:
scenario = self._scenario_generator.get_scenario(scenario_idx)
except Exception as e:
logging.error("Deserialization failed with {}.".format(e))
return False
try:
world_state = scenario.GetWorldState()
except Exception as e:
logging.error("Get world state failed with {}.".format(e))
return False
if visualize:
if not viewer:
viewer = MPViewer(
params=ParameterServer(),
x_range=[5060, 5160],
y_range=[5070, 5150],
use_world_bounds=True)
sim_step_time = 0.2
sim_real_time_factor = 1
try:
for _ in range(0, num_steps): # run a few steps for each scenario
if visualize:
info_text = "SetName: {} | ScenarioIdx: {}".format(
self._set_name, scenario_idx)
viewer.drawText(position=(0.5, 1.05), text=info_text)
viewer.drawWorld(
world_state, scenario._eval_agent_ids, scenario_idx=scenario_idx)
viewer.show(block=False)
time.sleep(sim_step_time/sim_real_time_factor)
viewer.clear()
world_state.Step(sim_step_time)
return True
except Exception as e:
logging.error("Simulation failed with {}.".format(e))
return False
# set you json config that contains a map and matching tracks.
param_server = ParameterServer(filename=os.path.join(os.path.join(os.path.dirname(__file__),"params/interaction_example.json")))
scenario_generation = InteractionDatasetScenarioGeneration(num_scenarios=1,
random_seed=0,
params=param_server)
viewer = MPViewer(params=param_server, use_world_bounds=True)
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]
scenario = scenario_generation.create_scenarios(param_server, 1)[0]
world_state = scenario.GetWorldState()
sim_time_steps = param_server["simulation"]["simulation_time_steps", "Number of time steps to simulate", 50]
video_renderer = VideoRenderer(renderer=viewer, world_step_time=sim_step_time)
for _ in range(0, sim_time_steps):
world_state.PlanAgents(sim_step_time)
viewer.clear()
video_renderer.drawWorld(world_state)
world_state.DoExecution(sim_step_time)
# video_renderer.export_video(filename="./interaction_dataset", remove_image_dir=True)