def test_configurable_scenario_generation_default_params(self):
params = ParameterServer()
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)
params.save("default_params.json")
def test_find_overlaps_configurable_scenario_generation(self):
shape = Polygon2d([0, 0, 0], [Point2d(-1,0),
Point2d(-1,1),
Point2d(1,1),
Point2d(1,0)])
agent_states1 = [[0, 1, 0, 0, 0], [0, 4, 0, 0, 0], [0, 8, 0, 0, 0]] # agents along x axis
agent_geometries1 = [shape, shape, shape]
agent_states2 = [[0, 4, -10, 0, 0], [0, 4, 0, 0, 0], [0, 4, 20, 0, 0]] # agents along y axis at x= 4
agent_geometries2 = [shape, shape, shape]
agent_states3 = [[0, 20, -20, 0, 0], [0, 1, 0, 0, 0], [0, 4, 20, 0, 0]] # some agents two colliding with other configs
agent_geometries3 = [shape, shape, shape]
collected_sources_sinks_agent_states_geometries = [(agent_states1, agent_geometries1),
(agent_states2, agent_geometries2),
(agent_states3, agent_geometries3)]
overlaps = ConfigurableScenarioGeneration.find_overlaps_in_sources_sinks_agents(
collected_sources_sinks_agent_states_geometries)
self.assertTrue("0-1" in overlaps)
collisions_01 = overlaps["0-1"]
self.assertEqual(len(collisions_01), 1)
# check source sink configs
self.assertEqual(collisions_01[0][0][0], 0)
self.assertEqual(collisions_01[0][1][0], 1)
#check agent positions in list
self.assertEqual(collisions_01[0][0][1], 1)
self.assertEqual(collisions_01[0][1][1], 1)
self.assertTrue("0-2" in overlaps)
collisions_02 = overlaps["0-2"]
self.assertEqual(len(collisions_02), 1)
# check source sink configs
self.assertEqual(collisions_02[0][0][0], 0)
self.assertEqual(collisions_02[0][1][0], 2)
#check agent positions in list
self.assertEqual(collisions_02[0][0][1], 0)
self.assertEqual(collisions_02[0][1][1], 1)
collisions_03 = overlaps["1-2"]
self.assertEqual(len(collisions_03), 1)
# check source sink configs
self.assertEqual(collisions_03[0][0][0], 1)
self.assertEqual(collisions_03[0][1][0], 2)
#check agent positions in list
self.assertEqual(collisions_03[0][0][1], 2)
self.assertEqual(collisions_03[0][1][1], 2)
def _build_configuration(self):
"""Builds a configuration using an SAC agent
"""
# TODO(@hart): increase scenario number
self._scenario_generator = \
ConfigurableScenarioGeneration(num_scenarios=100,
params=self._params)
# USE THIS FOR DETERMINISTIC SCENARIO GEN.
# self._scenario_generator = \
# DeterministicScenarioGeneration(num_scenarios=100,
# params=self._params)
# self._observer = NearestObserver(self._params)
self._observer = ClosestAgentsObserver(self._params)
self._behavior_model = DynamicModel(params=self._params)
self._evaluator = CustomEvaluator(params=self._params)
sim_step_time = 0.2
real_time_factor = 5
resolution = (1920, 1080)
dpi = 300
fig_env = plt.figure(figsize=(resolution[0] / dpi,
resolution[1] / dpi),
dpi=dpi)
gs = gridspec.GridSpec(1, 1, left=0.0, right=1, bottom=0, top=0.9)
axis = plt.subplot(gs[0])
viewer = MPViewer(params=self._params,
y_length=80,
enforce_y_length=True,
enforce_x_length=False,
follow_agent_id=True,
axis=axis)
# self._viewer = VideoRenderer(renderer=viewer, world_step_time=0.2)
self._viewer = viewer
self._runtime = RuntimeRL(action_wrapper=self._behavior_model,
observer=self._observer,
evaluator=self._evaluator,
step_time=0.2,
viewer=self._viewer,
scenario_generator=self._scenario_generator)
tfa_env = tf_py_environment.TFPyEnvironment(TFAWrapper(self._runtime))
eval_tf_env = tf_py_environment.TFPyEnvironment(
TFAWrapper(self._runtime))
# self._agent = PPOAgent(tfa_env, params=self._params)
# self._runner = PPORunner(tfa_env,
# eval_tf_env,
# self._agent,
# params=self._params,
# unwrapped_runtime=self._runtime)
self._agent = SACAgent(tfa_env, params=self._params)
self._runner = SACRunner(tfa_env,
self._agent,
params=self._params,
unwrapped_runtime=self._runtime)
def test_configurable_scenario_generation_sample_behavior_types(self):
sink_source_dict = [{
"SourceSink": [[5111.626, 5006.8305], [5110.789, 5193.1725]],
"Description":
"left_lane",
"ConfigAgentStatesGeometries": {
"Type": "UniformVehicleDistribution",
"LanePositions": [0]
},
"ConfigBehaviorModels": {
"Type": "FixedBehaviorType",
"ModelType": "BehaviorIDMClassic",
"ModelParams": {
"BehaviorIDMClassic::MaxVelocity": 60.0
}
},
"ConfigExecutionModels": {
"Type": "FixedExecutionType"
},
"ConfigDynamicModels": {
"Type": "FixedDynamicType"
},
"ConfigGoalDefinitions": {
"Type": "FixedGoalTypes"
},
"ConfigControlledAgents": {
"Type": "NoneControlled"
},
"AgentParams": {}
}, {
"SourceSink": [[5111.626, 5006.8305], [5110.789, 5193.1725]],
"Description":
"right_lane",
"ConfigAgentStatesGeometries": {
"Type": "UniformVehicleDistribution",
"LanePositions": [1]
},
"ConfigBehaviorModels": {
"Type": "SampleBehaviorType"
},
"ConfigExecutionModels": {
"Type": "FixedExecutionType"
},
"ConfigDynamicModels": {
"Type": "FixedDynamicType"
},
"ConfigGoalDefinitions": {
"Type": "FixedGoalTypes"
},
"ConfigControlledAgents": {
"Type": "RandomSingleAgent"
},
"AgentParams": {}
}]
params = ParameterServer()
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"][
"SinksSources"] = sink_source_dict
scenario_generation = ConfigurableScenarioGeneration(num_scenarios=2,
params=params)
scenario_generation.dump_scenario_list("test.scenario")
params.save("default_params_behavior_type_sampling.json")
def test_find_overlaps_configurable_scenario_generation(self):
shape = Polygon2d(
[0, 0, 0],
[Point2d(-1, 0),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, 0)])
agent_states1 = [[0, 1, 0, 0, 0], [0, 4, 0, 0, 0],
[0, 8, 0, 0, 0]] # agents along x axis
agent_geometries1 = [shape, shape, shape]
agent_states2 = [[0, 4, -10, 0, 0], [0, 4, 0, 0, 0],
[0, 4, 20, 0, 0]] # agents along y axis at x= 4
agent_geometries2 = [shape, shape, shape]
# some agents two colliding with other configs
agent_states3 = [[0, 20, -20, 0, 0], [0, 1, 0, 0, 0], [0, 4, 20, 0, 0]]
agent_geometries3 = [shape, shape, shape]
collected_sources_sinks_agent_states_geometries = [
(agent_states1, agent_geometries1),
(agent_states2, agent_geometries2),
(agent_states3, agent_geometries3)
]
overlaps = ConfigurableScenarioGeneration.find_overlaps_in_sources_sinks_agents(
collected_sources_sinks_agent_states_geometries)
self.assertTrue("0-1" in overlaps)
collisions_01 = overlaps["0-1"]
self.assertEqual(len(collisions_01), 1)
# check source sink configs
self.assertEqual(collisions_01[0][0][0], 0)
self.assertEqual(collisions_01[0][1][0], 1)
# check agent positions in list
self.assertEqual(collisions_01[0][0][1], 1)
self.assertEqual(collisions_01[0][1][1], 1)
self.assertTrue("0-2" in overlaps)
collisions_02 = overlaps["0-2"]
self.assertEqual(len(collisions_02), 1)
# check source sink configs
self.assertEqual(collisions_02[0][0][0], 0)
self.assertEqual(collisions_02[0][1][0], 2)
# check agent positions in list
self.assertEqual(collisions_02[0][0][1], 0)
self.assertEqual(collisions_02[0][1][1], 1)
collisions_03 = overlaps["1-2"]
self.assertEqual(len(collisions_03), 1)
# check source sink configs
self.assertEqual(collisions_03[0][0][0], 1)
self.assertEqual(collisions_03[0][1][0], 2)
# check agent positions in list
self.assertEqual(collisions_03[0][0][1], 2)
self.assertEqual(collisions_03[0][1][1], 2)
def test_dataset_scenario_generation(self):
params = ParameterServer()
map_filename = "modules/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"
track_filename = "modules/runtime/tests/data/interaction_dataset_dummy_track.csv"
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilename"] = track_filename
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=2)
# https://opensource.org/licenses/MIT
from modules.runtime.scenario.scenario_generation.configurable_scenario_generation import ConfigurableScenarioGeneration
from modules.runtime.commons.parameters import ParameterServer
from modules.runtime.viewer.matplotlib_viewer import MPViewer
from modules.runtime.runtime import Runtime
from modules.runtime.viewer.pygame_viewer import PygameViewer
import time
import os
scenario_param_file ="highway_merge_configurable.json" # must be within examples params folder
param_server = ParameterServer(filename= os.path.join("examples/params/",scenario_param_file))
scenario_generation = ConfigurableScenarioGeneration(num_scenarios=3, params=param_server)
viewer = MPViewer(
params=param_server,
x_range=[5060, 5160],
y_range=[5070,5150],
use_world_bounds=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.2]
sim_real_time_factor = param_server["simulation"]["real_time_factor",
"execution in real-time or faster",
1]
env = Runtime(0.2,
viewer,