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
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["MapFilename"] = os.path.join(os.path.dirname(__file__),"data/city_highway_straight.xodr")
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_configurable_scenario_generation_parametric_observer(self):
params = ParameterServer()
mapfile = os.path.join(os.path.dirname(__file__),
"data/city_highway_straight.xodr")
conf_params = params["Scenario"]["Generation"][
"ConfigurableScenarioGeneration"]
conf_params["MapFilename"] = mapfile
conf_params["ObserverModel"] = {
"Description": "world_observer",
"ConfigObserverModel": {
"Type": "ObserverModelParametricReader"
}
}
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_observer.json")
def test_configurable_scenario_generation_interaction_merging_track_ids(self):
sink_source_dict = {
"SourceSink": [[1001.92, 1005.59], [883.064, 1009.07] ],
"Description": "merging_deu_standard",
"ConfigAgentStatesGeometries": {"Type": "InteractionDataTrackIdsStatesGeometries"},
"ConfigBehaviorModels": {"Type": "InteractionDataBehaviors"},
"ConfigExecutionModels": {"Type": "FixedExecutionType"},
"ConfigDynamicModels": {"Type": "FixedDynamicType"},
"ConfigGoalDefinitions": {"Type": "FixedGoalTypes"},
"ConfigControlledAgents": {"Type": "AgentIds", "ControlledIds" : [1]},
"AgentParams" : {}
}
params = ParameterServer()
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["SinksSources"] = [sink_source_dict]
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["MapFilename"] = \
"bark/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"
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_interaction_dataset.json")
def test_configurable_scenario_generation_add_module_dir(self):
sink_source_dict = {
"SourceSink": [[1001.92, 1005.59], [883.064, 1009.07] ],
"Description": "merging_deu_standard",
"ConfigAgentStatesGeometries": {"Type": "UniformVehicleDistribution", "LanePositions": [0]},
"ConfigBehaviorModels": {"Type": "TestReaderFixedBehaviorType"},
"ConfigExecutionModels": {"Type": "FixedExecutionType"},
"ConfigDynamicModels": {"Type": "FixedDynamicType"},
"ConfigGoalDefinitions": {"Type": "FixedGoalTypes"},
"ConfigControlledAgents": {"Type": "RandomSingleAgent"},
"AgentParams" : {}
}
params = ParameterServer()
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["SinksSources"] = [sink_source_dict]
add_config_reader_module("bark.runtime.tests.test_config_reader_module")
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)
# test if window is reset
scenario_generation2 = ConfigurableScenarioGeneration(num_scenarios=2,params=params)
self.assertEqual(len(scenario_generation2._scenario_list), 2)
params.Save("default_params_interaction_dataset.json")
def test_configurable_scenario_generation_interaction_merging_window(self):
track_filenames = os.path.join(os.path.dirname(__file__), "data/*_dataset_dummy_track.csv")
map_filename = os.path.join(os.path.dirname(__file__), "data/DR_DEU_Merging_MT_v01_shifted.xodr")
sink_source_dict = {
"SourceSink": [[1001.92, 1005.59], [883.064, 1009.07] ],
"Description": "merging_deu_standard",
"ConfigAgentStatesGeometries": {"Type": "InteractionDataWindowStatesGeometries", "TrackFilenames": track_filenames},
"ConfigBehaviorModels": {"Type": "InteractionDataBehaviors"},
"ConfigExecutionModels": {"Type": "FixedExecutionType"},
"ConfigDynamicModels": {"Type": "FixedDynamicType"},
"ConfigGoalDefinitions": {"Type": "FixedGoalTypes", "EnforceControlledGoal": False},
"ConfigControlledAgents": {"Type": "PositioningSingleAgent", "LanePosition" : 0},
"AgentParams" : {}
}
params = ParameterServer()
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["SinksSources"] = [sink_source_dict]
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["MapFilename"] = map_filename
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)
# test if window is reset
scenario_generation2 = ConfigurableScenarioGeneration(num_scenarios=2,params=params)
self.assertEqual(len(scenario_generation2._scenario_list), 2)
params.Save("default_params_interaction_dataset.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 test_configurable_scenario_generation_default_params(self):
params = ParameterServer()
mapfile = os.path.join(os.path.dirname(__file__),"data/city_highway_straight.xodr")
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"]["MapFilename"] = mapfile
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 __init__(self,
params=None,
ml_behavior=None,
num_scenarios=100,
viewer=True):
# NOTE: scneario number is wrong
scenario_generation = ConfigurableScenarioGeneration(
num_scenarios=num_scenarios, params=params)
if viewer:
viewer = MPViewer(params=params,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
dt = 0.2
# NOTE: evaluator and observer could be overwritten
evaluator = GoalReached(params)
observer = NearestAgentsObserver(params)
ml_behavior = ml_behavior
super().__init__(scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
def configure_scenario_generation(num_scenarios, params):
scenario_generation = ConfigurableScenarioGeneration(
num_scenarios=num_scenarios, params=params)
return scenario_generation
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 test_dataset_scenario_generation_full(self):
params = ParameterServer()
map_filename = os.path.join(
os.path.dirname(__file__),
"data/DR_DEU_Merging_MT_v01_shifted.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_dummy_track.csv")
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilenameList"] = [track_filename]
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=2)
self.assertEqual(scenario_generation.get_num_scenarios(), 2)
def test_dataset_scenario_generation_full_incomplete(self):
params = ParameterServer()
map_filename = os.path.join(
os.path.dirname(__file__),
"data/DR_CHN_Merging_ZS_partial_v02.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_dummy_track_incomplete.csv")
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilenameList"] = [track_filename]
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=3)
# agent 1 is not part of the map, so it should only generate 2 scenarios
self.assertEqual(scenario_generation.get_num_scenarios(), 2)
def test_dataset_scenario_generation(self):
params = ParameterServer()
map_filename = os.path.join(
os.path.dirname(__file__),
"data/DR_DEU_Merging_MT_v01_shifted.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_dummy_track.csv")
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGeneration"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGeneration"][
"TrackFilename"] = track_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGeneration"]["TrackIds"] = [1, 2]
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGeneration"]["StartTs"] = 500
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGeneration"]["EndTs"] = 1000
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGeneration"]["EgoTrackId"] = 1
scenario_generation = InteractionDatasetScenarioGeneration(
params=params, num_scenarios=1)
self.assertEqual(scenario_generation.get_num_scenarios(), 1)
