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_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_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_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")