def bubbles():
actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
return [
t.Bubble(
zone=t.PositionalZone(pos=(150, -60), size=(30, 30)),
margin=10,
actor=actor,
),
t.Bubble(
zone=t.PositionalZone(pos=(60, -60), size=(30, 30)),
margin=10,
actor=actor,
),
]
def bubble():
return t.Bubble(
zone=t.PositionalZone(pos=(100, 0), size=(20, 20)),
margin=10,
actor=t.BoidAgentActor(
# TODO: Provide a more self-contained way to build agent locators for tests
name="hive-mind",
agent_locator="scenarios.straight.agent_prefabs:pose-boid-agent-v0",
),
)
def bubble(request):
"""
|(93) |(95) (100) (105)| (107)|
"""
return t.Bubble(
zone=t.PositionalZone(pos=(100, 0), size=(10, 10)),
margin=2,
limit=getattr(request, "param", t.BubbleLimits(10, 11)),
actor=t.SocialAgentActor(
name="zoo-car", agent_locator="zoo.policies:keep-lane-agent-v0"),
)
"coach",
"truck",
"trailer",
]
])
laner_actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={
"all": ([laner_actor], [t.Mission(route=t.RandomRoute())])
},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(10, 15)),
margin=5,
actor=laner_actor,
follow_actor_id=t.Bubble.to_actor_id(laner_actor,
mission_group="all"),
follow_offset=(-7, 10),
),
],
),
output_dir=Path(__file__).parent,
)
def main(args):
all_args = get_args(args)
num_agents = all_args.num_agents
num_lanes = all_args.num_lanes
born_lane_id = all_args.born_lane_id
born_position_offset = all_args.born_position_offset
target_lane_id = all_args.target_lane_id
target_position_offset = all_args.target_position_offset
trajectory_boid_agent = t.BoidAgentActor(
name="trajectory-boid",
agent_locator="scenarios.straight.agent_prefabs:trajectory-boid-agent-v0",
)
pose_boid_agent = t.BoidAgentActor(
name="pose-boid",
agent_locator="scenarios.straight.agent_prefabs:pose-boid-agent-v0",
)
traffic = t.Traffic(
flows=[
t.Flow(
route=t.Route(begin=("west", lane_idx, 0), end=("east", lane_idx, "max"),),
rate=50,
actors={t.TrafficActor("car"): 1},
)
for lane_idx in range(num_lanes)
]
)
assert len(target_position_offset) == len(born_position_offset) == num_agents, ("different number")
assert num_lanes <= 3, ("number of lanes can not exceed 3")
for _i in range(num_agents):
assert (born_lane_id[_i]<=2), ("the born_land_id can not exceed 2.")
assert (target_lane_id[_i]<=2), ("the target_land_id can not exceed 2.")
if not born_position_offset[_i] in ["max", "random"]:
assert int(born_position_offset[_i])<=100, ("the born_position_offset should use value 0~100 or max or random.")
if not target_position_offset[_i] in ["max", "random"]:
assert int(target_position_offset[_i])<=100, ("the target_position_offset should use value 0~100 or max or random.")
print("pass the assertion")
missions = [t.Mission(t.Route(begin=("west", born_lane_id[agent_idx], born_position_offset[agent_idx]), end=("east", target_lane_id[agent_idx], target_position_offset[agent_idx]))) for agent_idx in range(num_agents)]
scenario = t.Scenario(
traffic={"all": traffic},
ego_missions=missions,
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(40, 20)),
margin=5,
actor=trajectory_boid_agent,
),
t.Bubble(
zone=t.PositionalZone(pos=(150, 0), size=(50, 20)),
margin=5,
actor=pose_boid_agent,
keep_alive=True,
),
],
)
gen_scenario(scenario, output_dir=str(Path(__file__).parent))
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("west", lane_idx, 0),
end=("east", lane_idx, "max"),
),
rate=50,
actors={t.TrafficActor("car"): 1},
) for lane_idx in range(3)
])
scenario = t.Scenario(
traffic={"all": traffic},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(40, 20)),
margin=5,
actor=trajectory_boid_agent,
),
t.Bubble(
zone=t.PositionalZone(pos=(150, 0), size=(50, 20)),
margin=5,
actor=pose_boid_agent,
keep_alive=True,
),
],
)
gen_scenario(scenario, output_dir=str(Path(__file__).parent))
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",
),
),
]
ego_missions = [t.EndlessMission(begin=("edge-south-SN", 1, 20), )]
social_agent_missions = {
"all": (
[
t.SocialAgentActor(name="open-agent",
agent_locator="open_agent:open_agent-v0"),
k=1,
)[0],
):
1
},
) for _ in range(NUM_TRAFFIC_FLOWS)
])
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=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"]
] + [
boid_agent = t.BoidAgentActor(
name="hive-mind",
agent_locator="scenarios.straight.agent_prefabs:boid-agent-v0",
)
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("west", lane_idx, 0),
end=("east", lane_idx, "max"),
),
rate=50,
actors={
t.TrafficActor("car"): 1,
},
) for lane_idx in range(3)
])
scenario = t.Scenario(
traffic={"all": traffic},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(100, 0), size=(30, 20)),
margin=5,
actor=boid_agent,
),
],
)
gen_scenario(scenario, output_dir=str(Path(__file__).parent))
