def scenarios():
with temp_scenario(name="straight", map="maps/straight.net.xml") as scenario_root:
ego_missions = [
# missions of laner and buddha
t.Mission(
t.Route(
begin=("west", 0, 30),
end=("east", 0, "max"),
)
),
t.Mission(
t.Route(
begin=("west", 0, 40),
end=("east", 0, "max"),
)
),
]
gen_scenario(
t.Scenario(ego_missions=ego_missions),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots(
[str(scenario_root)], [AGENT_1, AGENT_2]
)
def two_agent_capture_offset_tenth_of_second():
with temp_scenario(name="straight",
map="maps/straight.net.xml") as scenario_root:
missions = [
t.Mission(
t.Route(begin=("west", 1, 20), end=("east", 1, "max")),
entry_tactic=t.TrapEntryTactic(
wait_to_hijack_limit_s=0,
zone=t.MapZone(start=("west", 0, 1), length=100,
n_lanes=3),
),
),
t.Mission(
t.Route(begin=("west", 2, 10), end=("east", 1, "max")),
entry_tactic=t.TrapEntryTactic(
wait_to_hijack_limit_s=0.1,
zone=t.MapZone(start=("west", 0, 1), length=100,
n_lanes=3),
),
),
]
scenario = t.Scenario(
traffic={},
ego_missions=missions,
)
gen_scenario(scenario, output_dir=scenario_root)
yield Scenario.variations_for_all_scenario_roots(
[str(scenario_root)], [AGENT_ID, AGENT_ID_2])
def scenarios():
with temp_scenario(name="straight",
map="maps/straight.net.xml") as scenario_root:
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("west", 1, 0),
end=("east", 1, "max"),
),
rate=50,
actors={t.TrafficActor("car"): 1},
)
])
missions = [
t.Mission(
t.Route(begin=("west", 1, 10), end=("east", 1, "max")),
entry_tactic=t.TrapEntryTactic(
wait_to_hijack_limit_s=3,
zone=t.MapZone(start=("west", 0, 1), length=100,
n_lanes=3),
),
)
]
scenario = t.Scenario(
traffic={"all": traffic},
ego_missions=missions,
)
gen_scenario(scenario, output_dir=scenario_root)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def scenarios(request):
with temp_scenario(name="map", map=request.param[0]) as scenario_root:
mission = t.Mission(route=t.Route(begin=("edge-west-WE", 0, 10),
end=(request.param[1], 0, 40)))
gen_scenario(
t.Scenario(ego_missions=[mission]),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def scenario():
with temp_scenario(name="map",
map="maps/straight.net.xml") as scenario_root:
mission = t.Mission(route=t.Route(
begin=("west", 1, 99.9),
end=("east", 1, 10.0),
))
gen_scenario(
t.Scenario(ego_missions=[mission]),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def uturn_scenarios():
with temp_scenario(name="straight",
map="maps/6lane.net.xml") as scenario_root:
ego_missions = [
t.Mission(
route=t.Route(begin=("edge-west-WE", 0, 30),
end=("edge-west-EW", 0, "max")),
task=t.UTurn(),
),
]
gen_scenario(
t.Scenario(ego_missions=ego_missions),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def scenarios():
with temp_scenario(name="6lane", map="maps/6lane.net.xml") as scenario_root:
actors = [
t.SocialAgentActor(
name=f"non-interactive-agent-{speed}-v0",
agent_locator="zoo.policies:non-interactive-agent-v0",
policy_kwargs={"speed": speed},
)
for speed in [10, 30, 80]
]
def to_mission(start_edge, end_edge):
route = t.Route(begin=(start_edge, 1, 0), end=(end_edge, 1, "max"))
return t.Mission(route=route)
def fifth_mission(start_edge, end_edge):
route = t.Route(begin=(start_edge, 0, 0), end=(end_edge, 0, "max"))
return t.Mission(route=route)
gen_scenario(
t.Scenario(
social_agent_missions={
"group-1": (actors, [to_mission("edge-north-NS", "edge-south-NS")]),
"group-2": (actors, [to_mission("edge-west-WE", "edge-east-WE")]),
"group-3": (actors, [to_mission("edge-east-EW", "edge-west-EW")]),
"group-4": (actors, [to_mission("edge-south-SN", "edge-north-SN")]),
"group-5": (
actors,
[fifth_mission("edge-south-SN", "edge-east-WE")],
),
},
ego_missions=[
t.Mission(
t.Route(
begin=("edge-west-WE", 0, 0), end=("edge-east-WE", 0, "max")
)
)
],
),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots(
[str(scenario_root)], [AGENT_1]
)
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[t.Mission(t.Route(begin=("E35-3", 1, 70), end=("E3-3l", 0, 30))),],
)
)
]
)
social_agent_missions = {
"all": (
[
t.SocialAgentActor(
name="open-agent",
agent_locator="open_agent:open_agent-v0",
initial_speed=20,
),
],
[
t.Mission(
t.Route(begin=("west", 1, 10), end=("east", 0, "max")),
task=t.CutIn(),
)
],
),
}
ego_missions = [
t.Mission(
t.Route(begin=("west", 1, 5), end=("east", 0, "max")),
task=t.CutIn(),
)
]
scenario = t.Scenario(
traffic={"all": traffic},
ego_missions=ego_missions,
import os
import pickle
from smarts.sstudio import gen_missions, gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[t.Mission(t.Route(begin=("E35-3", 2, 90), end=("E3-3s", 0, 30))),],
)
gen_missions(
scenario, [t.Mission(t.Route(begin=("E3l-3", 1, 200), end=("E3-35", 1, 50))),],
)
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E3l-3", 1, 100), end=("E3l-3", 1, "max"))),
],
)
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[t.Mission(t.Route(begin=("E3l-3", 1, 200), end=("E3-35", 1, 20))),],
)
"""
from pathlib import Path
from smarts.sstudio import gen_missions
from smarts.sstudio.types import (
Route,
Mission,
)
scenario = str(Path(__file__).parent)
gen_missions(
scenario=scenario,
from pathlib import Path
from smarts.sstudio import gen_scenario
import smarts.sstudio.types as t
missions = [
t.Mission(t.Route(begin=("-gneE1", 0, 5), end=("-gneE1", 0, 97))),
t.Mission(t.Route(begin=("gneE1", 0, 5), end=("gneE1", 0, 97))),
t.Mission(t.Route(begin=("-gneE1", 0, 20), end=("-gneE1", 0, 97))),
t.Mission(t.Route(begin=("gneE1", 0, 20), end=("gneE1", 0, 97))),
]
impatient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=1.0),
lane_changing_model=t.LaneChangingModel(impatience=1, cooperative=0.25),
junction_model=t.JunctionModel(
drive_after_red_time=1.5, drive_after_yellow_time=1.0, impatience=1.0
),
)
patient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=0.8),
lane_changing_model=t.LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=t.JunctionModel(drive_after_yellow_time=1.0, impatience=0.5),
)
traffic = {
"1": t.Traffic(
from pathlib import Path
from smarts.sstudio import gen_scenario
import smarts.sstudio.types as t
missions = [
t.Mission(t.Route(begin=("gneE17", 0, 10), end=("gneE5", 0, 100))),
t.Mission(t.Route(begin=("gneE22", 0, 10), end=("gneE5", 1, 100))),
t.Mission(t.Route(begin=("gneE17", 0, 25), end=("gneE5", 0, 100))),
t.Mission(t.Route(begin=("gneE22", 0, 25), end=("gneE5", 1, 100))),
]
impatient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=1.0),
lane_changing_model=t.LaneChangingModel(impatience=1, cooperative=0.25),
junction_model=t.JunctionModel(drive_after_red_time=1.5,
drive_after_yellow_time=1.0,
impatience=1.0),
)
patient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=0.8),
lane_changing_model=t.LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=t.JunctionModel(drive_after_yellow_time=1.0,
impatience=0.5),
)
traffic = {
"1":
t.Traffic(flows=[
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E35-3", 2, 50), end=("E3-3l", 2, "max"))),
],
)
from pathlib import Path
from typing import Any, Tuple
import smarts.sstudio.types as types
from smarts.sstudio import gen_missions, gen_traffic
scenario = str(Path(__file__).parent)
patient_car = types.TrafficActor(name="car", )
shared_route = types.Route(
begin=("edge-east", 0, 20),
end=("edge-west", 0, 0),
)
traffic = types.Traffic(
flows=[types.Flow(
route=shared_route,
rate=1,
actors={patient_car: 1},
)])
gen_missions(
scenario,
missions=[
types.Mission(shared_route),
],
)
gen_traffic(scenario, traffic, "traffic")
from pathlib import Path
from smarts.sstudio import gen_scenario
import smarts.sstudio.types as t
missions = [
t.Mission(t.Route(begin=("edge-south-SN", 1, 40), end=("edge-north-SN", 0, 40))),
# t.Mission(t.Route(begin=("edge-west-WE", 1, 50), end=("edge-east-WE", 0, 60))),
# t.Mission(t.Route(begin=("edge-north-NS", 0, 40), end=("edge-south-NS", 1, 40))),
# t.Mission(t.Route(begin=("edge-east-EW", 0, 50), end=("edge-west-EW", 1, 40))),
]
impatient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=1.0),
lane_changing_model=t.LaneChangingModel(impatience=1, cooperative=0.25),
junction_model=t.JunctionModel(
drive_after_red_time=1.5, drive_after_yellow_time=1.0, impatience=1.0
),
)
patient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=0.8),
lane_changing_model=t.LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=t.JunctionModel(drive_after_yellow_time=1.0, impatience=0.5),
)
vertical_routes = [("north-NS", "south-NS"), ("south-SN", "north-SN")]
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E3l-3", 1, 150), end=("E3-35", 1, 20))),
],
)
"""
from pathlib import Path
from smarts.sstudio import gen_missions
from smarts.sstudio.types import (
Route,
Mission,
)
scenario = str(Path(__file__).parent)
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E35-3", 2, 80), end=("E3-3s", 0, 50))),
],
)
),
]
ego_missions = [t.EndlessMission(begin=("edge-south-SN", 1, 20), )]
social_agent_missions = {
"all": (
[
t.SocialAgentActor(name="open-agent",
agent_locator="open_agent:open_agent-v0"),
t.SocialAgentActor(name="rl-agent",
agent_locator="rl_agent:rl-agent-v1"),
],
[
t.Mission(
t.Route(begin=("edge-west-WE", 1, 10),
end=("edge-east-WE", 1, "max")))
],
),
}
gen_scenario(
scenario=t.Scenario(
traffic={"basic": traffic},
bubbles=bubbles,
ego_missions=ego_missions,
social_agent_missions=social_agent_missions,
),
output_dir=Path(__file__).parent,
)
from smarts.sstudio import gen_traffic, gen_bubbles, gen_missions
scenario = str(Path(__file__).parent)
# Definition of a traffic flow
traffic = t.Traffic(
flows=[
t.Flow(
route=t.Route(
begin=("west", lane_idx, 10),
end=("east", lane_idx, -10),
),
rate=50,
actors={
t.TrafficActor("car"): 1,
},
)
for lane_idx in range(3)
]
)
# The call to generate traffic
gen_traffic(scenario, traffic, name="basic")
gen_missions(
scenario,
[
t.Mission(t.Route(begin=("west", 0, 0), end=("east", 0, "max"))),
],
)
from pathlib import Path
from smarts.sstudio import types as t
from smarts.sstudio.genscenario import gen_scenario
ego_missions = [
t.Mission(t.Route(begin=("1_0_R", 1, 5), end=("1_2_R", 1, "max")))
]
gen_scenario(
scenario=t.Scenario(ego_missions=ego_missions, ),
output_dir=str(Path(__file__).parent),
overwrite=True,
)
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E5-35", 1, 20), end=("E35-3", 0, 5))),
],
)
])
open_agent_actor = t.SocialAgentActor(name="open-agent",
agent_locator="open_agent:open_agent-v0")
laner_actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={
"all": ([laner_actor,
open_agent_actor], [t.Mission(route=t.RandomRoute())])
},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(10, 15)),
margin=5,
actor=open_agent_actor,
follow_actor_id=t.Bubble.to_actor_id(laner_actor,
mission_group="all"),
follow_offset=(-7, 10),
),
],
),
output_dir=Path(__file__).parent,
)
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E3s-3", 0, 200), end=("E3-35", 1, 40))),
],
)
"""
from pathlib import Path
from smarts.sstudio import gen_missions
from smarts.sstudio.types import (
Route,
Mission,
)
scenario = str(Path(__file__).parent)
"coach",
"truck",
"trailer",
]
])
laner_actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={
"all": ([laner_actor], [t.Mission(route=t.RandomRoute())])
},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(10, 15)),
margin=5,
actor=laner_actor,
follow_actor_id=t.Bubble.to_actor_id(laner_actor,
mission_group="all"),
follow_offset=(-7, 10),
),
],
),
output_dir=Path(__file__).parent,
)
import os
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E3-3l", 1, 160), end=("E3-3l", 0, 500))),
],
)
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
from pathlib import Path
import smarts.sstudio.types as t
from smarts.sstudio import gen_scenario
missions = [
t.Mission(
t.Route(begin=("edge-south-SN", 1, 40), end=("edge-west-EW", 0, 60))),
t.Mission(
t.Route(begin=("edge-west-WE", 1, 50), end=("edge-east-WE", 0, 60))),
t.Mission(
t.Route(begin=("edge-north-NS", 0, 40), end=("edge-south-NS", 1, 40))),
t.Mission(
t.Route(begin=("edge-east-EW", 0, 50), end=("edge-west-EW", 1, 40))),
]
impatient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=1.0),
lane_changing_model=t.LaneChangingModel(impatience=1, cooperative=0.25),
junction_model=t.JunctionModel(drive_after_red_time=1.5,
drive_after_yellow_time=1.0,
impatience=1.0),
import pickle
from smarts.sstudio import gen_social_agent_missions
from smarts.sstudio import types as t
scenario = os.path.dirname(os.path.realpath(__file__))
with open(os.environ["SOCIAL_AGENT_PATH"], "rb") as f:
social_agent = pickle.load(f)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
t.Mission(t.Route(begin=("E3n-3", 2, 200), end=("E3-35", 1, 60))),
],
)
"""
from pathlib import Path
from smarts.sstudio import gen_missions
from smarts.sstudio.types import (
Route,
Mission,
)
scenario = str(Path(__file__).parent)
def main(args):
all_args = get_args(args)
num_agents = all_args.num_agents
num_lanes = all_args.num_lanes
born_lane_id = all_args.born_lane_id
born_position_offset = all_args.born_position_offset
target_lane_id = all_args.target_lane_id
target_position_offset = all_args.target_position_offset
trajectory_boid_agent = t.BoidAgentActor(
name="trajectory-boid",
agent_locator="scenarios.straight.agent_prefabs:trajectory-boid-agent-v0",
)
pose_boid_agent = t.BoidAgentActor(
name="pose-boid",
agent_locator="scenarios.straight.agent_prefabs:pose-boid-agent-v0",
)
traffic = t.Traffic(
flows=[
t.Flow(
route=t.Route(begin=("west", lane_idx, 0), end=("east", lane_idx, "max"),),
rate=50,
actors={t.TrafficActor("car"): 1},
)
for lane_idx in range(num_lanes)
]
)
assert len(target_position_offset) == len(born_position_offset) == num_agents, ("different number")
assert num_lanes <= 3, ("number of lanes can not exceed 3")
for _i in range(num_agents):
assert (born_lane_id[_i]<=2), ("the born_land_id can not exceed 2.")
assert (target_lane_id[_i]<=2), ("the target_land_id can not exceed 2.")
if not born_position_offset[_i] in ["max", "random"]:
assert int(born_position_offset[_i])<=100, ("the born_position_offset should use value 0~100 or max or random.")
if not target_position_offset[_i] in ["max", "random"]:
assert int(target_position_offset[_i])<=100, ("the target_position_offset should use value 0~100 or max or random.")
print("pass the assertion")
missions = [t.Mission(t.Route(begin=("west", born_lane_id[agent_idx], born_position_offset[agent_idx]), end=("east", target_lane_id[agent_idx], target_position_offset[agent_idx]))) for agent_idx in range(num_agents)]
scenario = t.Scenario(
traffic={"all": traffic},
ego_missions=missions,
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(40, 20)),
margin=5,
actor=trajectory_boid_agent,
),
t.Bubble(
zone=t.PositionalZone(pos=(150, 0), size=(50, 20)),
margin=5,
actor=pose_boid_agent,
keep_alive=True,
),
],
)
gen_scenario(scenario, output_dir=str(Path(__file__).parent))
