def test_configurable_scenario_generation_add_module_dir(self):
sink_source_dict = {
"SourceSink": [[1001.92, 1005.59], [883.064, 1009.07] ],
"Description": "merging_deu_standard",
"ConfigAgentStatesGeometries": {"Type": "UniformVehicleDistribution", "LanePositions": [0]},
"ConfigBehaviorModels": {"Type": "TestReaderFixedBehaviorType"},
"ConfigExecutionModels": {"Type": "FixedExecutionType"},
"ConfigDynamicModels": {"Type": "FixedDynamicType"},
"ConfigGoalDefinitions": {"Type": "FixedGoalTypes"},
"ConfigControlledAgents": {"Type": "RandomSingleAgent"},
"AgentParams" : {}
}
params = ParameterServer()
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["SinksSources"] = [sink_source_dict]
add_config_reader_module("bark.runtime.tests.test_config_reader_module")
scenario_generation = ConfigurableScenarioGeneration(num_scenarios=2,params=params)
scenario_generation.dump_scenario_list("test.scenario")
scenario_loader = ScenarioGeneration()
scenario_loader.load_scenario_list("test.scenario")
self.assertEqual(len(scenario_loader._scenario_list), 2)
self.assertEqual(len(scenario_loader._scenario_list[0]._agent_list), len(scenario_generation._scenario_list[0]._agent_list))
scenario = scenario_loader.get_scenario(idx=0)
# test if window is reset
scenario_generation2 = ConfigurableScenarioGeneration(num_scenarios=2,params=params)
self.assertEqual(len(scenario_generation2._scenario_list), 2)
params.Save("default_params_interaction_dataset.json")
from bark_ml.behaviors.discrete_behavior import BehaviorDiscreteMacroActionsML
import yaml
from bark_mcts.models.behavior.hypothesis.behavior_space.behavior_space import BehaviorSpace
from bark.runtime.scenario.scenario_generation.configurable_scenario_generation \
import ConfigurableScenarioGeneration
from hythe.libs.experiments.experiment import Experiment
from hythe.libs.environments.gym import HyDiscreteHighway
from bark_ml.library_wrappers.lib_fqf_iqn_qrdqn.agent import IQNAgent
from load.benchmark_database import BenchmarkDatabase
from serialization.database_serializer import DatabaseSerializer
from bark.runtime.scenario.scenario_generation.configurable_scenario_generation \
import add_config_reader_module
add_config_reader_module("bark_mcts.runtime.scenario.behavior_space_sampling")
from libs.evaluation.training_benchmark_database import TrainingBenchmarkDatabase
is_local = False
if is_local:
num_episodes = 10000
num_scenarios = 200
else:
num_episodes = 50000
num_scenarios = 1000
def configure_args(parser=None):
if parser is None:
