def main(scenarios, headless, seed):
scenarios_iterator = Scenario.scenario_variations(scenarios, [])
smarts = SMARTS(
agent_interfaces={},
traffic_sim=SumoTrafficSimulation(headless=True, auto_start=True),
envision=Envision(),
)
for _ in scenarios:
scenario = next(scenarios_iterator)
agent_missions = scenario.discover_missions_of_traffic_histories()
for agent_id, mission in agent_missions.items():
scenario.set_ego_missions({agent_id: mission})
agent_spec = AgentSpec(
interface=AgentInterface.from_type(AgentType.Laner,
max_episode_steps=None),
agent_builder=KeepLaneAgent,
)
agent = agent_spec.build_agent()
smarts.switch_ego_agent({agent_id: agent_spec.interface})
observations = smarts.reset(scenario)
dones = {agent_id: False}
while not dones[agent_id]:
agent_obs = observations[agent_id]
agent_action = agent.act(agent_obs)
observations, rewards, dones, infos = smarts.step(
{agent_id: agent_action})
smarts.destroy()
def main(scenarios, headless, seed):
scenarios_iterator = Scenario.scenario_variations(scenarios, [])
smarts = SMARTS(
agent_interfaces={},
traffic_sim=None,
envision=None if headless else Envision(),
)
for _ in scenarios:
scenario = next(scenarios_iterator)
agent_missions = scenario.discover_missions_of_traffic_histories()
for agent_id, mission in agent_missions.items():
agent_spec = AgentSpec(
interface=AgentInterface.from_type(AgentType.LanerWithSpeed,
max_episode_steps=None),
agent_builder=KeepLaneAgent,
agent_params=scenario.traffic_history_target_speed,
)
agent = agent_spec.build_agent()
# Take control of vehicle with corresponding agent_id
smarts.switch_ego_agent({agent_id: agent_spec.interface})
# tell the traffic history provider to start traffic
# at the point when this agent enters...
traffic_history_provider = smarts.get_provider_by_type(
TrafficHistoryProvider)
assert traffic_history_provider
traffic_history_provider.start_time = mission.start_time
# agent vehicle will enter right away...
modified_mission = replace(mission, start_time=0.0)
scenario.set_ego_missions({agent_id: modified_mission})
observations = smarts.reset(scenario)
dones = {agent_id: False}
while not dones.get(agent_id, True):
agent_obs = observations[agent_id]
agent_action = agent.act(agent_obs)
observations, rewards, dones, infos = smarts.step(
{agent_id: agent_action})
smarts.destroy()
