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])
laner_actor = t.SocialAgentActor( name="keep-lane-agent", agent_locator="zoo.policies:keep-lane-agent-v0", ) travelling_bubbles = [ t.Bubble( zone=t.PositionalZone(pos=(50, 0), size=(10, 50)), margin=5, actor=open_agent_actor, follow_actor_id=t.Bubble.to_actor_id(laner_actor, mission_group="all"), follow_offset=(-7, 10), ) ] static_bubbles = [ t.Bubble(zone=t.MapZone((id_, 0, 10), 200, 1), margin=5, actor=laner_actor,) for id_ in ["21675239", "126742590#1", "-77720372", "-263506114#6", "-33002812#1"] ] gen_scenario( t.Scenario( traffic={"basic": traffic}, social_agent_missions={ "all": ([laner_actor, open_agent_actor], [t.Mission(route=t.RandomRoute())]) }, bubbles=[*travelling_bubbles, *static_bubbles], ), output_dir=Path(__file__).parent, )
end=("edge-east-WE", 0, "max")), rate=400, actors={t.TrafficActor("car"): 1}, ), t.Flow( route=t.Route(begin=("edge-east-EW", 0, 10), end=("edge-west-EW", 0, "max")), rate=400, actors={t.TrafficActor("car"): 1}, ), ]) agent_prefabs = "scenarios.intersections.4lane_t.agent_prefabs" bubbles = [ t.Bubble( zone=t.MapZone(start=("edge-west-WE", 0, 50), length=10, n_lanes=1), margin=2, actor=t.SocialAgentActor( name="zoo-agent", agent_locator=f"{agent_prefabs}:zoo-agent-v0", ), ), t.Bubble( zone=t.PositionalZone(pos=(100, 100), size=(20, 20)), margin=2, actor=t.SocialAgentActor( name="motion-planner-agent", agent_locator=f"{agent_prefabs}:motion-planner-agent-v0", ), ), ]
agent_locator="zoo.policies:keep-lane-agent-v0", ) travelling_bubbles = [ t.Bubble( zone=t.PositionalZone(pos=(50, 0), size=(10, 50)), margin=5, actor=laner_actor, follow_actor_id=t.Bubble.to_actor_id(laner_actor, mission_group="all"), follow_offset=(-7, 10), ) ] static_bubbles = [ t.Bubble( zone=t.MapZone((id_, 0, 10), 200, 1), margin=5, actor=laner_actor, ) for id_ in ["21675239", "126742590#1", "-77720372", "-263506114#6", "-33002812#1"] ] + [ t.Bubble( zone=t.PositionalZone(pos=(1012.19, 1084.20), size=(30, 30)), margin=5, actor=laner_actor, ) ] gen_scenario( t.Scenario( traffic={"basic": traffic},