def render_video(self, config_idx, folder):
viewer = MPViewer(params=ParameterServer(),
center=[375, 0],
enforce_x_length=True,
x_length=100.0,
use_world_bounds=True)
video_exporter = VideoRenderer(renderer=viewer, world_step_time=0.2)
super().visualize(viewer=video_exporter, configs_idx_list=[config_idx], \
real_time_factor=10, fontsize=6)
video_exporter.export_video(filename=os.path.join(folder,"video"), \
remove_image_dir = True)
def test_python_behavior_model(self):
# World Definition
scenario_param_file = "macro_actions_test.json" # must be within examples params folder
params = ParameterServer(filename=os.path.join(
os.path.dirname(__file__), "params/", scenario_param_file))
world = World(params)
# Define two behavior models one python one standard c++ model
behavior_model = PythonDistanceBehavior(params)
execution_model = ExecutionModelInterpolate(params)
dynamic_model = SingleTrackModel(params)
behavior_model2 = BehaviorConstantAcceleration(params)
execution_model2 = ExecutionModelInterpolate(params)
dynamic_model2 = SingleTrackModel(params)
# Define the map interface and load a testing map
map_interface = MapInterface()
xodr_map = MakeXodrMapOneRoadTwoLanes()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
# Define the agent shapes
agent_2d_shape = CarRectangle()
init_state = np.array([0, 3, -5.25, 0, 20])
# Define the goal definition for agents
center_line = Line2d()
center_line.AddPoint(Point2d(0.0, -1.75))
center_line.AddPoint(Point2d(100.0, -1.75))
max_lateral_dist = (0.4, 0.5)
max_orientation_diff = (0.08, 0.1)
velocity_range = (5.0, 20.0)
goal_definition = GoalDefinitionStateLimitsFrenet(
center_line, max_lateral_dist, max_orientation_diff,
velocity_range)
# define two agents with the different behavior models
agent_params = params.AddChild("agent1")
agent = Agent(init_state, behavior_model, dynamic_model,
execution_model, agent_2d_shape, agent_params,
goal_definition, map_interface)
world.AddAgent(agent)
init_state2 = np.array([0, 25, -5.25, 0, 15])
agent2 = Agent(init_state2, behavior_model2, dynamic_model2,
execution_model2, agent_2d_shape, agent_params,
goal_definition, map_interface)
world.AddAgent(agent2)
# viewer
viewer = MPViewer(params=params, use_world_bounds=True)
# World Simulation
sim_step_time = params["simulation"]["step_time",
"Step-time in simulation", 0.2]
sim_real_time_factor = params["simulation"][
"real_time_factor", "execution in real-time or faster", 1]
# Draw map
video_renderer = VideoRenderer(renderer=viewer,
world_step_time=sim_step_time)
for _ in range(0, 20):
world.Step(sim_step_time)
viewer.clear()
video_renderer.drawWorld(world)
video_renderer.drawGoalDefinition(goal_definition, "red", 0.5,
"red")
time.sleep(sim_step_time / sim_real_time_factor)
video_renderer.export_video(filename="./test_video_intermediate",
remove_image_dir=True)
def main():
print("Experiment server at :", os.getcwd())
args = configure_args()
#load exp params
exp_dir = args.output_dir
params_filename = glob.glob(os.path.join(exp_dir, "params_[!behavior]*"))
params = ParameterServer(filename=params_filename[0])
params.load(fn=params_filename[0])
params["ML"]["BaseAgent"]["SummaryPath"] = os.path.join(exp_dir, "agent/summaries")
params["ML"]["BaseAgent"]["CheckpointPath"] = os.path.join(exp_dir, "agent/checkpoints")
splits = 8
behavior_params_filename = glob.glob(os.path.join(exp_dir, "behavior_params*"))
if behavior_params_filename:
params_behavior = ParameterServer(filename=behavior_params_filename[0])
else:
params_behavior = ParameterServer(filename="configuration/params/1D_desired_gap_no_prior.json")
behavior_space = configure_behavior_space(params_behavior)
hypothesis_set, hypothesis_params = behavior_space.create_hypothesis_set_fixed_split(split=splits)
observer = BeliefObserver(params, hypothesis_set, splits=splits)
behavior = BehaviorDiscreteMacroActionsML(params_behavior)
evaluator = GoalReached(params)
viewer = MPViewer(params=params,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
# database creation
dir_prefix = ""
dbs = DatabaseSerializer(test_scenarios=2, test_world_steps=2,
num_serialize_scenarios=10)
dbs.process(os.path.join(dir_prefix, "configuration/database"), filter_sets="**/**/interaction_merging_light_dense_1D.json")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
scenario_generator, _, _ = db.get_scenario_generator(0)
video_renderer = VideoRenderer(renderer=viewer, world_step_time=0.2)
env = HyDiscreteHighway(params=params,
scenario_generation=scenario_generator,
behavior=behavior,
evaluator=evaluator,
observer=observer,
viewer=video_renderer,
render=is_local)
# non-agent evaluation mode
num_steps = 100
num_samples = params_behavior["BehaviorSpace"]["Hypothesis"]["BehaviorHypothesisIDM"]["NumSamples"]
print("Steps, samples, splits", num_steps, num_samples, splits)
step = 1
env.reset()
threshold = observer.is_enabled_threshold
discretize = observer.is_discretize
beliefs_df = pd.DataFrame(columns=["Step", "Action", "Agent", "Beliefs", "HyNum"])
beliefs_orig_df = pd.DataFrame(columns=["Step", "Action", "Agent", "Beliefs", "HyNum"])
while step <= num_steps:
action = 5 #np.random.randint(0, behavior.action_space.n)
next_state, reward, done, info = env.step(action)
for agent, beliefs in observer.beliefs.items():
beliefs = np.asarray(beliefs)
oring = deepcopy(beliefs)
for i, belief in enumerate(oring):
beliefs_orig_df = beliefs_orig_df.append({"Step": step, "Action": action, "Agent": agent, "Beliefs": belief, "HyNum": i}, ignore_index=True)
if discretize:
beliefs = observer.discretize_beliefs(beliefs)
if threshold:
beliefs = observer.threshold_beliefs(beliefs)
for i, belief in enumerate(beliefs):
beliefs_df = beliefs_df.append({"Step": step, "Action": action, "Agent": agent, "Beliefs": belief, "HyNum": i}, ignore_index=True)
step += 1
suffix = "switch"
if threshold:
suffix += "_threshold"
if discretize:
suffix += "_discretize"
beliefs_data_filename = "beliefs_{}_{}_{}".format(splits, num_samples, num_steps)
beliefs_data_filename += suffix
print(beliefs_data_filename)
beliefs_df.to_pickle(os.path.join(str(Path.home()), "master_thesis/code/hythe-src/beliefs_data/", beliefs_data_filename))
beliefs_data_filename = "orig_beliefs_{}_{}_{}".format(splits, num_samples, num_steps)
beliefs_data_filename += suffix
print(beliefs_data_filename)
beliefs_orig_df.to_pickle(os.path.join(str(Path.home()), "master_thesis/code/hythe-src/beliefs_data/", beliefs_data_filename))
video_filename = os.path.join(str(Path.home()), "master_thesis/code/hythe-src/beliefs_data/", "video_{}".format(num_samples))
print(video_filename)
video_filename += suffix
print(video_filename)
video_renderer.export_video(filename=video_filename)
return
def test_uct_single_agent(self):
try:
from bark.core.models.behavior import BehaviorUCTSingleAgentMacroActions
except:
print("Rerun with --define planner_uct=true")
return
# World Definition
scenario_param_file = "macro_actions_test.json" # must be within examples params folder
params = ParameterServer(filename=os.path.join(
os.path.dirname(__file__), "params/", scenario_param_file))
world = World(params)
# Model Definitions
behavior_model = BehaviorUCTSingleAgentMacroActions(params)
execution_model = ExecutionModelInterpolate(params)
dynamic_model = SingleTrackModel(params)
behavior_model2 = BehaviorConstantAcceleration(params)
execution_model2 = ExecutionModelInterpolate(params)
dynamic_model2 = SingleTrackModel(params)
# Map Definition
map_interface = MapInterface()
xodr_map = MakeXodrMapOneRoadTwoLanes()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
# agent_2d_shape = CarLimousine()
agent_2d_shape = CarRectangle()
init_state = np.array([0, 3, -5.25, 0, 20])
agent_params = params.AddChild("agent1")
# goal_polygon = Polygon2d(
# [1, 1, 0], [Point2d(0, 0), Point2d(0, 2), Point2d(2, 2), Point2d(2, 0)])
# goal_definition = GoalDefinitionPolygon(goal_polygon)
# goal_polygon = goal_polygon.Translate(Point2d(90, -2))
center_line = Line2d()
center_line.AddPoint(Point2d(0.0, -1.75))
center_line.AddPoint(Point2d(100.0, -1.75))
max_lateral_dist = (0.4, 0.5)
max_orientation_diff = (0.08, 0.1)
velocity_range = (5.0, 20.0)
goal_definition = GoalDefinitionStateLimitsFrenet(
center_line, max_lateral_dist, max_orientation_diff,
velocity_range)
agent = Agent(init_state, behavior_model, dynamic_model,
execution_model, agent_2d_shape, agent_params,
goal_definition, map_interface)
world.AddAgent(agent)
init_state2 = np.array([0, 25, -5.25, 0, 0])
agent2 = Agent(init_state2, behavior_model2, dynamic_model2,
execution_model2, agent_2d_shape, agent_params,
goal_definition, map_interface)
world.AddAgent(agent2)
# viewer
viewer = MPViewer(params=params, use_world_bounds=True)
# World Simulation
sim_step_time = params["simulation"]["step_time",
"Step-time in simulation", 0.2]
sim_real_time_factor = params["simulation"][
"real_time_factor", "execution in real-time or faster", 1]
# Draw map
video_renderer = VideoRenderer(renderer=viewer,
world_step_time=sim_step_time)
for _ in range(0, 5):
world.Step(sim_step_time)
viewer.clear()
video_renderer.drawWorld(world)
video_renderer.drawGoalDefinition(goal_definition)
time.sleep(sim_step_time / sim_real_time_factor)
video_renderer.export_video(filename="./test_video_intermediate",
remove_image_dir=True)