#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
from bark.runtime.scenario.scenario_generation.interaction_dataset_scenario_generation import \
InteractionDatasetScenarioGeneration
from bark.runtime.commons.parameters import ParameterServer
from bark.runtime.viewer.matplotlib_viewer import MPViewer
from bark.runtime.viewer.video_renderer import VideoRenderer
from bark.examples.paths import Data
import os
import argparse
# set you json config that contains a map and matching tracks.
param_server = ParameterServer(
filename=Data.params_data("interaction_example"))
scenario_generation = InteractionDatasetScenarioGeneration(num_scenarios=1,
random_seed=0,
params=param_server)
viewer = MPViewer(params=param_server, 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]
scenario = scenario_generation.create_scenarios(param_server, 1)[0]
world_state = scenario.GetWorldState()
sim_time_steps = param_server["simulation"]["simulation_time_steps",
from bark.runtime.scenario.scenario_generation.config_with_ease import \
LaneCorridorConfig, ConfigWithEase
from bark.runtime.runtime import Runtime
from bark.examples.paths import Data
from bark.core.models.behavior import *
try:
from bark.core.world.evaluation import EvaluatorRSS
except:
raise ImportError(
"This example requires building RSS, please run with \"bazel run //examples:highway_rss --define rss=true\""
)
# parameters
param_server = ParameterServer(
filename=Data.params_data("highway_merge_configurable"))
param_server["BehaviorLaneChangeRuleBased"]["MinVehicleRearDistance"] = 4.
param_server["BehaviorLaneChangeRuleBased"]["MinVehicleFrontDistance"] = 2.
param_server["BehaviorLaneChangeRuleBased"]["TimeKeepingGap"] = 0.
param_server["World"]["FracLateralOffset"] = 2.0
# param_server["Visualization"]["Evaluation"]["DrawRssDebugInfo"] = True
# param_server["Visualization"]["Evaluation"]["DrawRssSafetyResponses"] = True
param_server["Visualization"]["Evaluation"]["DrawEgoRSSSafetyResponses"] = True
# custom lane configuration that sets a different behavior model
# and sets the desired speed for the behavior
class HighwayLaneCorridorConfig(LaneCorridorConfig):
def __init__(self, params=None, **kwargs):
super().__init__(params=params, **kwargs)
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
from bark.runtime.scenario.scenario_generation.interaction_dataset_scenario_generation import \
InteractionDatasetScenarioGeneration
from bark.runtime.commons.parameters import ParameterServer
from bark.runtime.viewer.matplotlib_viewer import MPViewer
from bark.runtime.viewer.video_renderer import VideoRenderer
from bark.examples.paths import Data
import os
import argparse
# set you json config that contains a map and matching tracks.
param_server = ParameterServer(filename=Data.params_data("interaction_example"))
scenario_generation = InteractionDatasetScenarioGeneration(num_scenarios=1,
random_seed=0,
params=param_server)
viewer = MPViewer(params=param_server, 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]
scenario = scenario_generation.create_scenarios(param_server, 1)[0]
world_state = scenario.GetWorldState()