def _create_behavior(self): sequence = py_trees.composites.Sequence("Sequence Behavior") parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) parallel.add_child(StopVehicle(self.ego_vehicles[0], 1)) parallel.add_child(StopVehicle(self.ego_vehicles[0], 1)) sequence.add_child(parallel) # match all cars speed parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) parallel.add_child(KeepVelocity(self.ego_vehicles[0], 2, distance=7)) parallel.add_child(KeepVelocity(self.other_actors[0], 2, distance=7)) sequence.add_child(parallel) # turn target speed autopilot for all cars parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) parallel.add_child( WaypointFollower(self.ego_vehicles[0], self._speed, avoid_collision=False)) parallel.add_child( WaypointFollower(self.other_actors[0], self._speed, avoid_collision=False)) sequence.add_child(parallel) driveDistance = DriveDistance(self.ego_vehicles[0], self._drivenDistanceM, name="DriveDistance") sequence.add_child(driveDistance) return sequence
def _create_behavior(self): """ The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make the other actor to drive towards obstacle. Once obstacle clears the road, make the other actor to drive towards the next intersection. Finally, the user-controlled vehicle has to be close enough to the other actor to end the scenario. If this does not happen within 60 seconds, a timeout stops the scenario """ # let the other actor drive until next intersection driving_to_next_intersection = py_trees.composites.Parallel( "Driving towards Intersection", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) obstacle_clear_road = py_trees.composites.Parallel("Obstalce clearing road", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) obstacle_clear_road.add_child(DriveDistance(self.other_actors[1], 4)) obstacle_clear_road.add_child(KeepVelocity(self.other_actors[1], self._second_actor_speed)) stop_near_intersection = py_trees.composites.Parallel( "Waiting for end position near Intersection", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) stop_near_intersection.add_child(WaypointFollower(self.other_actors[0], 10)) stop_near_intersection.add_child(InTriggerDistanceToNextIntersection(self.other_actors[0], 20)) driving_to_next_intersection.add_child(WaypointFollower(self.other_actors[0], self._first_actor_speed)) driving_to_next_intersection.add_child(InTriggerDistanceToVehicle(self.other_actors[1], self.other_actors[0], 15)) # end condition endcondition = py_trees.composites.Parallel("Waiting for end position", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) endcondition_part1 = InTriggerDistanceToVehicle(self.other_actors[0], self.ego_vehicles[0], distance=20, name="FinalDistance") endcondition_part2 = StandStill(self.ego_vehicles[0], name="FinalSpeed") endcondition.add_child(endcondition_part1) endcondition.add_child(endcondition_part2) # Build behavior tree sequence = py_trees.composites.Sequence("Sequence Behavior") sequence.add_child(ActorTransformSetter(self.other_actors[0], self._first_actor_transform)) sequence.add_child(ActorTransformSetter(self.other_actors[1], self._second_actor_transform)) sequence.add_child(driving_to_next_intersection) sequence.add_child(StopVehicle(self.other_actors[0], self._other_actor_max_brake)) sequence.add_child(TimeOut(3)) sequence.add_child(obstacle_clear_road) sequence.add_child(stop_near_intersection) sequence.add_child(StopVehicle(self.other_actors[0], self._other_actor_max_brake)) sequence.add_child(endcondition) sequence.add_child(ActorDestroy(self.other_actors[0])) sequence.add_child(ActorDestroy(self.other_actors[1])) return sequence
def _create_behavior(self): """ After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make a traffic participant to accelerate until it is going fast enough to reach an intersection point. at the same time as the user controlled vehicle at the junction. Once the user controlled vehicle comes close to the junction, the traffic participant accelerates and passes through the junction. After 60 seconds, a timeout stops the scenario. """ # Creating leaf nodes start_other_trigger = InTriggerRegion(self.ego_vehicles[0], -80, -70, -75, -60) sync_arrival = SyncArrival(self.other_actors[0], self.ego_vehicles[0], carla.Location(x=-74.63, y=-136.34)) pass_through_trigger = InTriggerRegion(self.ego_vehicles[0], -90, -70, -124, -119) keep_velocity_other = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity) stop_other_trigger = InTriggerRegion(self.other_actors[0], -45, -35, -140, -130) stop_other = StopVehicle(self.other_actors[0], self._other_actor_max_brake) end_condition = InTriggerRegion(self.ego_vehicles[0], -90, -70, -170, -156) # Creating non-leaf nodes root = py_trees.composites.Sequence() scenario_sequence = py_trees.composites.Sequence() sync_arrival_parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) keep_velocity_other_parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # Building tree root.add_child(scenario_sequence) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[0], self._other_actor_transform)) scenario_sequence.add_child(start_other_trigger) scenario_sequence.add_child(sync_arrival_parallel) scenario_sequence.add_child(keep_velocity_other_parallel) scenario_sequence.add_child(stop_other) scenario_sequence.add_child(end_condition) scenario_sequence.add_child(ActorDestroy(self.other_actors[0])) sync_arrival_parallel.add_child(sync_arrival) sync_arrival_parallel.add_child(pass_through_trigger) keep_velocity_other_parallel.add_child(keep_velocity_other) keep_velocity_other_parallel.add_child(stop_other_trigger) return root
def _create_behavior(self): """ The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make the other actor to drive until reaching the next intersection. Finally, the user-controlled vehicle has to be close enough to the other actor to end the scenario. If this does not happen within 60 seconds, a timeout stops the scenario """ # to avoid the other actor blocking traffic, it was spawed elsewhere # reset its pose to the required one start_transform = ActorTransformSetter(self.other_actors[0], self._other_actor_transform) # let the other actor drive until next intersection # @todo: We should add some feedback mechanism to respond to ego_vehicle behavior driving_to_next_intersection = py_trees.composites.Parallel( "DrivingTowardsIntersection", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) driving_to_next_intersection.add_child( WaypointFollower(self.other_actors[0], self._first_vehicle_speed)) driving_to_next_intersection.add_child( InTriggerDistanceToNextIntersection( self.other_actors[0], self._other_actor_stop_in_front_intersection)) # stop vehicle stop = StopVehicle(self.other_actors[0], self._other_actor_max_brake) # end condition endcondition = py_trees.composites.Parallel( "Waiting for end position", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) endcondition_part1 = InTriggerDistanceToVehicle(self.other_actors[0], self.ego_vehicles[0], distance=20, name="FinalDistance") endcondition_part2 = StandStill(self.ego_vehicles[0], name="StandStill", duration=1) endcondition.add_child(endcondition_part1) endcondition.add_child(endcondition_part2) # Build behavior tree sequence = py_trees.composites.Sequence("Sequence Behavior") sequence.add_child(start_transform) sequence.add_child(driving_to_next_intersection) sequence.add_child(stop) sequence.add_child(endcondition) sequence.add_child(ActorDestroy(self.other_actors[0])) return sequence
def _create_behavior(self): # sequence vw # make visible sequence_vw = py_trees.composites.Sequence("VW T2") vw_visible = ActorTransformSetter(self.other_actors[1], self.slow_car_visible) sequence_vw.add_child(vw_visible) # brake, avoid rolling backwarts brake = StopVehicle(self.other_actors[1], self._max_brake) sequence_vw.add_child(brake) sequence_vw.add_child(Idle()) # sequence tesla # make visible sequence_tesla = py_trees.composites.Sequence("Tesla") tesla_visible = ActorTransformSetter(self.other_actors[0], self.fast_car_visible) sequence_tesla.add_child(tesla_visible) # drive fast towards slow vehicle just_drive = py_trees.composites.Parallel("DrivingTowardsSlowVehicle", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) tesla_driving_fast = WaypointFollower(self.other_actors[0], self._fast_vehicle_velocity) just_drive.add_child(tesla_driving_fast) distance_to_vehicle = InTriggerDistanceToVehicle( self.other_actors[1], self.other_actors[0], self._trigger_distance) just_drive.add_child(distance_to_vehicle) sequence_tesla.add_child(just_drive) # change lane lane_change_atomic = LaneChange(self.other_actors[0], distance_other_lane=200) sequence_tesla.add_child(lane_change_atomic) sequence_tesla.add_child(Idle()) # ego vehicle # end condition endcondition = py_trees.composites.Parallel("Waiting for end position of ego vehicle", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) endcondition_part1 = InTriggerDistanceToVehicle(self.other_actors[1], self.ego_vehicles[0], distance=20, name="FinalDistance") endcondition_part2 = StandStill(self.ego_vehicles[0], name="FinalSpeed") endcondition.add_child(endcondition_part1) endcondition.add_child(endcondition_part2) # build tree root = py_trees.composites.Parallel("Parallel Behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) root.add_child(sequence_vw) root.add_child(sequence_tesla) root.add_child(endcondition) return root
def _create_behavior(self): """ After invoking this scenario, cyclist will wait for the user controlled vehicle to enter trigger distance region, the cyclist starts crossing the road once the condition meets, then after 60 seconds, a timeout stops the scenario """ root = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="OccludedObjectCrossing") lane_width = self._reference_waypoint.lane_width lane_width = lane_width + (1.25 * lane_width * self._num_lane_changes) dist_to_trigger = 12 + self._num_lane_changes # leaf nodes if self._ego_route is not None: start_condition = InTriggerDistanceToLocationAlongRoute( self.ego_vehicles[0], self._ego_route, self.transform.location, dist_to_trigger) else: start_condition = InTimeToArrivalToVehicle(self.other_actors[0], self.ego_vehicles[0], self._time_to_reach) actor_velocity = KeepVelocity(self.other_actors[0], self._other_actor_target_velocity, name="walker velocity") actor_drive = DriveDistance(self.other_actors[0], 0.5 * lane_width, name="walker drive distance") actor_start_cross_lane = AccelerateToVelocity( self.other_actors[0], 1.0, self._other_actor_target_velocity, name="walker crossing lane accelerate velocity") actor_cross_lane = DriveDistance( self.other_actors[0], lane_width, name="walker drive distance for lane crossing ") actor_stop_crossed_lane = StopVehicle(self.other_actors[0], self._other_actor_max_brake, name="walker stop") ego_pass_machine = DriveDistance(self.ego_vehicles[0], 5, name="ego vehicle passed prop") actor_remove = ActorDestroy(self.other_actors[0], name="Destroying walker") static_remove = ActorDestroy(self.other_actors[1], name="Destroying Prop") end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven, name="End condition ego drive distance") # non leaf nodes scenario_sequence = py_trees.composites.Sequence() keep_velocity_other = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity other") keep_velocity = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity") # building tree root.add_child(scenario_sequence) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[0], self.transform, name='TransformSetterTS3walker', physics=False)) scenario_sequence.add_child( ActorTransformSetter(self.other_actors[1], self.transform2, name='TransformSetterTS3coca', physics=False)) scenario_sequence.add_child( HandBrakeVehicle(self.other_actors[0], True)) scenario_sequence.add_child(start_condition) scenario_sequence.add_child( HandBrakeVehicle(self.other_actors[0], False)) scenario_sequence.add_child(keep_velocity) scenario_sequence.add_child(keep_velocity_other) scenario_sequence.add_child(actor_stop_crossed_lane) scenario_sequence.add_child(actor_remove) scenario_sequence.add_child(static_remove) scenario_sequence.add_child(end_condition) keep_velocity.add_child(actor_velocity) keep_velocity.add_child(actor_drive) keep_velocity_other.add_child(actor_start_cross_lane) keep_velocity_other.add_child(actor_cross_lane) keep_velocity_other.add_child(ego_pass_machine) return root
def _create_behavior(self): """ Hero vehicle is turning right in an urban area, at a signalized intersection, while other actor coming straight from left.The hero actor may turn right either before other actor passes intersection or later, without any collision. After 80 seconds, a timeout stops the scenario. """ location_of_collision_dynamic = get_geometric_linear_intersection( self.ego_vehicles[0], self.other_actors[0]) crossing_point_dynamic = get_crossing_point(self.other_actors[0]) sync_arrival = SyncArrival(self.other_actors[0], self.ego_vehicles[0], location_of_collision_dynamic) sync_arrival_stop = InTriggerDistanceToLocation( self.other_actors[0], crossing_point_dynamic, 5) sync_arrival_parallel = py_trees.composites.Parallel( "Synchronize arrival times", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) sync_arrival_parallel.add_child(sync_arrival) sync_arrival_parallel.add_child(sync_arrival_stop) # Selecting straight path at intersection target_waypoint = generate_target_waypoint( CarlaDataProvider.get_map().get_waypoint( self.other_actors[0].get_location()), 0) # Generating waypoint list till next intersection plan = [] wp_choice = target_waypoint.next(1.0) while not wp_choice[0].is_intersection: target_waypoint = wp_choice[0] plan.append((target_waypoint, RoadOption.LANEFOLLOW)) wp_choice = target_waypoint.next(1.0) move_actor = WaypointFollower(self.other_actors[0], self._target_vel, plan=plan) waypoint_follower_end = InTriggerDistanceToLocation( self.other_actors[0], plan[-1][0].transform.location, 10) move_actor_parallel = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) move_actor_parallel.add_child(move_actor) move_actor_parallel.add_child(waypoint_follower_end) #manipulate traffic light manipulate_traffic_light = TrafficLightManipulator( self.ego_vehicles[0], "S7right") move_actor_parallel.add_child(manipulate_traffic_light) # stop other actor stop = StopVehicle(self.other_actors[0], self._brake_value) # end condition end_condition = DriveDistance(self.ego_vehicles[0], self._ego_distance) # Behavior tree sequence = py_trees.composites.Sequence() sequence.add_child( ActorTransformSetter(self.other_actors[0], self._other_actor_transform)) sequence.add_child(sync_arrival_parallel) sequence.add_child(move_actor_parallel) sequence.add_child(stop) sequence.add_child(end_condition) sequence.add_child(ActorDestroy(self.other_actors[0])) return sequence
def _create_behavior(self): """ """ # building the tree scenario_sequence = py_trees.composites.Sequence() waypoint_events = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL) destroy_actors = py_trees.composites.Sequence() reach_destination = InTriggerDistanceToLocation( self.ego_vehicles[0], self.customized_data['destination'], 2) scenario_sequence.add_child(waypoint_events) scenario_sequence.add_child(reach_destination) scenario_sequence.add_child(destroy_actors) for i in range(len(self.pedestrian_list)): pedestrian_actor, pedestrian_generated_transform = self.pedestrian_list[ i] pedestrian_info = self.customized_data['pedestrian_list'][i] trigger_distance = InTriggerDistanceToVehicle( self.ego_vehicles[0], pedestrian_actor, pedestrian_info.trigger_distance) movement = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) actor_velocity = KeepVelocity(pedestrian_actor, pedestrian_info.speed) actor_traverse = DriveDistance(pedestrian_actor, pedestrian_info.dist_to_travel) movement.add_child(actor_velocity) movement.add_child(actor_traverse) if pedestrian_info.after_trigger_behavior == 'destroy': after_trigger_behavior = ActorDestroy(pedestrian_actor) elif pedestrian_info.after_trigger_behavior == 'stop': after_trigger_behavior = StopVehicle(pedestrian_actor, brake_value=0.5) destroy_actor = ActorDestroy(pedestrian_actor) destroy_actors.add_child(destroy_actor) else: raise pedestrian_behaviors = py_trees.composites.Sequence() pedestrian_behaviors.add_child(trigger_distance) pedestrian_behaviors.add_child(movement) pedestrian_behaviors.add_child(after_trigger_behavior) waypoint_events.add_child(pedestrian_behaviors) for i in range(len(self.vehicle_list)): vehicle_actor, generated_transform = self.vehicle_list[i] vehicle_info = self.customized_data['vehicle_list'][i] keep_velocity = py_trees.composites.Parallel( "Trigger condition for changing behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) keep_velocity.add_child( InTriggerDistanceToVehicle(self.ego_vehicles[0], vehicle_actor, vehicle_info.trigger_distance)) keep_velocity.add_child( WaypointFollower(vehicle_actor, vehicle_info.initial_speed, avoid_collision=vehicle_info.avoid_collision)) if vehicle_info.waypoint_follower: # interpolate current location and destination to find a path start_location = generated_transform.location end_location = vehicle_info.targeted_waypoint.location _, route = interpolate_trajectory( self.world, [start_location, end_location]) ds_ids = downsample_route( route, self.customized_data['sample_factor']) route = [(route[x][0], route[x][1]) for x in ds_ids] # print('route', len(route)) perturb_route(route, vehicle_info.waypoints_perturbation) # visualize_route(route) plan = [] for transform, cmd in route: wp = self._wmap.get_waypoint(transform.location, project_to_road=False, lane_type=carla.LaneType.Any) if not wp: wp = self._wmap.get_waypoint( transform.location, project_to_road=True, lane_type=carla.LaneType.Any) print('(', transform.location.x, transform.location.y, ')', 'is replaced by', '(', wp.transform.location.x, wp.transform.location.y, ')') plan.append((wp, cmd)) movement = WaypointFollower( actor=vehicle_actor, target_speed=vehicle_info.targeted_speed, plan=plan, avoid_collision=vehicle_info.avoid_collision) else: movement = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) actor_velocity = KeepVelocity( vehicle_actor, vehicle_info.targeted_speed, target_direction=vehicle_info.target_direction) actor_traverse = DriveDistance(vehicle_actor, vehicle_info.dist_to_travel) movement.add_child(actor_velocity) movement.add_child(actor_traverse) if vehicle_info.after_trigger_behavior == 'destroy': after_trigger_behavior = ActorDestroy(vehicle_actor) elif vehicle_info.after_trigger_behavior == 'stop': after_trigger_behavior = StopVehicle(vehicle_actor, brake_value=0.5) destroy_actor = ActorDestroy(vehicle_actor) destroy_actors.add_child(destroy_actor) else: raise vehicle_behaviors = py_trees.composites.Sequence() vehicle_behaviors.add_child(keep_velocity) vehicle_behaviors.add_child(movement) vehicle_behaviors.add_child(after_trigger_behavior) waypoint_events.add_child(vehicle_behaviors) return scenario_sequence
def _create_behavior(self): """ The scenario defined after is a "follow leading vehicle" scenario. After invoking this scenario, it will wait for the user controlled vehicle to enter the start region, then make the other actor to drive until reaching the next intersection. Finally, the user-controlled vehicle has to be close enough to the other actor to end the scenario. If this does not happen within 60 seconds, a timeout stops the scenario """ root = py_trees.composites.Parallel( "Running random scenario", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) root.add_child(StandStill(self.ego_vehicles[0], "scenario ended", 3.0)) root.add_child( InTriggerDistanceToLocation(self.ego_vehicles[0], carla.Location(200, -250, 0), 10)) for (scenario, actor_dict) in self.scenario_list: if scenario == "VehiclesAhead": wait_for_trigger = InTriggerDistanceToLocation( self.ego_vehicles[0], actor_dict.trigger.transform.location, 10) start_transform = ActorTransformSetter( self.other_actors[actor_dict.index], actor_dict.start_transform) keep_driving = WaypointFollower( self.other_actors[actor_dict.index], actor_dict.speed, avoid_collision=True) drive = py_trees.composites.Parallel( "Driving for a distance", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) drive_success = DriveDistance( self.other_actors[actor_dict.index], random.randint(50, 100)) drive.add_child(drive_success) drive.add_child(keep_driving) stand = StandStill(self.other_actors[actor_dict.index], "stand still", random.randint(1, 5)) stop = StopVehicle(self.other_actors[actor_dict.index], 1.0) accelerate = AccelerateToVelocity( self.other_actors[actor_dict.index], 1.0, actor_dict.speed) # Build behavior tree sequence = py_trees.composites.Sequence( "VehiclesAhead behavior sequence") sequence.add_child(wait_for_trigger) sequence.add_child(start_transform) # stop_condition = py_trees.composites.Parallel("stop condition", # policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) # stop_condition.add_child(keep_driving) # stop_condition.add_child(drive_success) if actor_dict.stop: sequence.add_child(drive) sequence.add_child(stop) sequence.add_child(accelerate) sequence.add_child(keep_driving) #stop_condition print("lead vehicle stop behavior added") else: sequence.add_child(keep_driving) #stop_condition sequence.add_child( ActorDestroy(self.other_actors[actor_dict.index])) root.add_child(sequence) elif scenario == "StationaryObstaclesAhead": lane_width = self.ego_vehicles[0].get_world().get_map( ).get_waypoint(self.ego_vehicles[0].get_location()).lane_width lane_width = lane_width + (1.25 * lane_width) sequence = py_trees.composites.Sequence( "StationaryObstaclesAhead behavior sequence") # actor_stand = TimeOut(15) # actor_removed = ActorDestroy(self.other_actors[num_actors]) # end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven) sequence.add_child( ActorTransformSetter(self.other_actors[actor_dict.index], actor_dict.start_transform)) sequence.add_child(TimeOut(120)) root.add_child(sequence) elif scenario == "CutIn": sequence = py_trees.composites.Sequence("CarOn_{}_Lane".format( actor_dict.direction)) car_visible = ActorTransformSetter( self.other_actors[actor_dict.index], actor_dict.start_transform) sequence.add_child( InTriggerDistanceToLocation( self.ego_vehicles[0], actor_dict.trigger.transform.location, 10)) sequence.add_child(car_visible) # accelerate accelerate = AccelerateToCatchUp( self.other_actors[actor_dict.index], self.ego_vehicles[0], throttle_value=1, delta_velocity=actor_dict.delta_speed, trigger_distance=actor_dict.trigger_distance, max_distance=100) sequence.add_child(accelerate) # lane_change # lane_change = None if actor_dict.direction == 'left': lane_change = LaneChange( self.other_actors[actor_dict.index], speed=actor_dict.lane_change_speed, direction='right', distance_same_lane=50, distance_other_lane=10) sequence.add_child(lane_change) else: lane_change = LaneChange( self.other_actors[actor_dict.index], speed=actor_dict.lane_change_speed, direction='left', distance_same_lane=50, distance_other_lane=10) sequence.add_child(lane_change) sequence.add_child( WaypointFollower(self.other_actors[actor_dict.index], target_speed=20, avoid_collision=True)) endcondition = DriveDistance( self.other_actors[actor_dict.index], 150) parallel = py_trees.composites.Sequence( "Behavior", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE) parallel.add_child(sequence) parallel.add_child(endcondition) root.add_child(parallel) elif scenario == "DynamicObstaclesAhead": lane_width = actor_dict.trigger.lane_width lane_width = lane_width + (1.25 * lane_width * actor_dict.num_lane_changes) start_condition = InTimeToArrivalToVehicle( self.other_actors[actor_dict.index], self.ego_vehicles[0], actor_dict.time_to_reach) # actor_velocity = KeepVelocity(self.other_actors[actor_dict.index], # actor_dict.speed, # name="walker velocity") # actor_drive = DriveDistance(self.other_actors[actor_dict.index], # 0.5 * lane_width, # name="walker drive distance") actor_start_cross_lane = AccelerateToVelocity( self.other_actors[actor_dict.index], 1.0, actor_dict.speed, name="walker crossing lane accelerate velocity") actor_cross_lane = DriveDistance( self.other_actors[actor_dict.index], lane_width, name="walker drive distance for lane crossing ") actor_stop_cross_lane = StopVehicle( self.other_actors[actor_dict.index], 1.0, name="walker stop") ego_pass_machine = DriveDistance( self.ego_vehicles[0], 5, name="ego vehicle passed walker") # actor_remove = ActorDestroy(self.other_actors[actor_dict.index], # name="Destroying walker") scenario_sequence = py_trees.composites.Sequence() keep_velocity_other = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity other") keep_velocity = py_trees.composites.Parallel( policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="keep velocity") scenario_sequence.add_child( ActorTransformSetter(self.other_actors[actor_dict.index], actor_dict.start_transform, name='TransformSetterTS3walker', physics=False)) # scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[actor_dict.index], True)) scenario_sequence.add_child(start_condition) # scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[actor_dict.index], False)) # scenario_sequence.add_child(keep_velocity) scenario_sequence.add_child(keep_velocity_other) scenario_sequence.add_child(actor_stop_cross_lane) # keep_velocity.add_child(actor_velocity) # keep_velocity.add_child(actor_drive) keep_velocity_other.add_child(actor_start_cross_lane) # keep_velocity_other.add_child(actor_cross_lane) # keep_velocity_other.add_child(ego_pass_machine) root.add_child(scenario_sequence) return root