def create_scenario():
with temp_scenario(name="cycles",
map="maps/6lane.net.xml") as scenario_root:
actors = [
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]
]
for name, (edge_start, edge_end) in [
("group-1", ("edge-north-NS", "edge-south-NS")),
("group-2", ("edge-west-WE", "edge-east-WE")),
("group-3", ("edge-east-EW", "edge-west-EW")),
("group-4", ("edge-south-SN", "edge-north-SN")),
]:
route = Route(begin=("edge-north-NS", 1, 0),
end=("edge-south-NS", 1, "max"))
missions = [Mission(route=route)] * 2
gen_social_agent_missions(
scenario_root,
social_agent_actor=actors,
name=name,
missions=missions,
)
yield scenario_root
def scenario_root(scenario_parent_path):
# TODO: We may want to consider referencing to concrete scenarios in our tests
# rather than generating them. The benefit of generting however is that
# we can change the test criteria and scenario code in unison.
scenario = Path(scenario_parent_path) / "cycles"
scenario.mkdir()
shutil.copyfile(
Path(__file__).parent / "maps/6lane.net.xml", scenario / "map.net.xml")
generate_glb_from_sumo_network(str(scenario / "map.net.xml"),
str(scenario / "map.glb"))
actors = [
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]
]
for name, (edge_start, edge_end) in [
("group-1", ("edge-north-NS", "edge-south-NS")),
("group-2", ("edge-west-WE", "edge-east-WE")),
("group-3", ("edge-east-EW", "edge-west-EW")),
("group-4", ("edge-south-SN", "edge-north-SN")),
]:
route = Route(begin=("edge-north-NS", 1, 0),
end=("edge-south-NS", 1, "max"))
missions = [Mission(route=route)] * 2 # double up
gen_social_agent_missions(
scenario,
social_agent_actor=actors,
name=name,
missions=missions,
)
gen_missions(
scenario,
missions=[
Mission(
Route(begin=("edge-west-WE", 0, 0),
end=("edge-east-WE", 0, "max")))
],
)
return scenario
def scenario_root():
# TODO: We may want to consider referencing to concrete scenarios in our tests
# rather than generating them. The benefit of generting however is that
# we can change the test criteria and scenario code in unison.
with temp_scenario(name="cycles",
map="maps/6lane.net.xml") as scenario_root:
actors = [
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]
]
for name, (edge_start, edge_end) in [
("group-1", ("edge-north-NS", "edge-south-NS")),
("group-2", ("edge-west-WE", "edge-east-WE")),
("group-3", ("edge-east-EW", "edge-west-EW")),
("group-4", ("edge-south-SN", "edge-north-SN")),
]:
route = Route(begin=("edge-north-NS", 1, 0),
end=("edge-south-NS", 1, "max"))
missions = [Mission(route=route)] * 2 # double up
gen_social_agent_missions(
scenario_root,
social_agent_actor=actors,
name=name,
missions=missions,
)
gen_missions(
scenario_root,
missions=[
Mission(
Route(begin=("edge-west-WE", 0, 0),
end=("edge-east-WE", 0, "max")))
],
)
yield scenario_root
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=("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)
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"))),
],
)
social_agent3 = SocialAgentActor(
name="zoo-car3", agent_locator="agent_prefabs:zoo-agent2-v0",
)
# here define social agent type and numbers
social_agents = [social_agent2, social_agent3, social_agent1]
# generate social agent missisons and store social agents' information under social_agents/
for scenario, starting_edge in zip(scenario_paths, starting_edges):
for i, social_agent in enumerate(social_agents):
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent,
name=f"s-agent-{social_agent.name}",
missions=[
# edge_id, lane_index, offset
EndlessMission(begin=(starting_edge, i + 1, 0),),
# Mission(Route(begin=("edge-east", 1, 0), end=("edge-east", 1, -5))),
],
overwrite=True,
)
print("generate social agent missions finished")
#########################################
# generate agent missions
#########################################
# generate agent Missions so agents will born in the same position after env reset()
# Otherwise, no defined agent mission will lead to agent born in different place after env reset()
laner_agent = SocialAgentActor(
name="laner-agent",
agent_locator=
"scenarios.intersections.2lane_circle.agent_prefabs:laner-agent-v0",
)
buddha_agent = SocialAgentActor(
name="buddha-agent",
agent_locator=
"scenarios.intersections.2lane_circle.agent_prefabs:buddha-agent-v0",
)
gen_social_agent_missions(
scenario,
social_agent_actor=laner_agent,
name=f"s-agent-{laner_agent.name}",
missions=[
Mission(Route(begin=("edge-east-EW", 0, 5),
end=("edge-west-EW", 0, 5)))
],
)
gen_social_agent_missions(
scenario,
social_agent_actor=buddha_agent,
name=f"s-agent-{buddha_agent.name}",
missions=[
Mission(Route(begin=("edge-west-WE", 0, 5),
end=("edge-east-WE", 0, 5)))
],
)
# "this.resolved.module:attribute"
# In your own project you would place the prefabs script where python can reach it
social_agent1 = SocialAgentActor(
name="zoo-car1",
agent_locator="scenarios.zoo_intersection.agent_prefabs:zoo-agent2-v0",
initial_speed=20,
)
social_agent2 = SocialAgentActor(
name="zoo-car2",
agent_locator="scenarios.zoo_intersection.agent_prefabs:zoo-agent2-v0",
initial_speed=20,
)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent2,
name=f"s-agent-{social_agent2.name}",
missions=[Mission(RandomRoute())],
)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent1,
name=f"s-agent-{social_agent1.name}",
missions=[
EndlessMission(begin=("edge-south-SN", 0, 30)),
Mission(
Route(begin=("edge-west-WE", 0, 10), end=("edge-east-WE", 0, 10))),
],
)
# Agent Missions
