RightCircularArc(
radius=3 * random.random() + 0.5,
angle=0.1 + math.pi / 2 * random.random(),
),
Intersection(
size=2,
turn=random.choices(
[
Intersection.RIGHT, Intersection.LEFT,
Intersection.STRAIGHT
],
weights=[1, 1, 2],
k=1,
)[0],
angle=(70 + 40 * random.random()) * math.pi / 180,
rule=random.choices(
[
Intersection.EQUAL,
Intersection.PRIORITY_STOP,
Intersection.PRIORITY_YIELD,
Intersection.STOP,
Intersection.YIELD,
],
weights=[1, 1, 1, 1, 1],
k=1,
)[0],
),
BlockedArea(
obstacles=random.choice([[get_random_obstacle()], []])),
ZebraCrossing(),
StraightRoad(obstacles=random.choice([[get_random_obstacle()],
"""A simple road for the onboarding task.""" from simulation.utils.road.road import Road # Definition of the road class from simulation.utils.road.sections import StraightRoad from simulation.utils.road.sections import Intersection road = Road() road.append(StraightRoad()) road.append(StraightRoad(length=2)) road.append(Intersection()) road.append(StraightRoad())
import math
import os
from simulation.utils.road.road import Road
from simulation.utils.road.sections import Intersection, StraightRoad
speed_limit = int(os.environ.get("SPEED_LIMIT", 30))
road = Road()
road.append(StraightRoad(length=4))
road.append(Intersection(turn=Intersection.RIGHT, angle=math.radians(90)))
s = StraightRoad(length=4)
s.add_speed_limit(0, speed=speed_limit)
road.append(s)
depth=0.32,
spots=[
ParkingSpot(width=0.2),
ParkingSpot(
width=0.11, kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()
),
ParkingSpot(width=0.71),
ParkingSpot(
width=0.11, kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()
),
ParkingSpot(width=0.56),
ParkingSpot(width=0.73, kind=ParkingSpot.BLOCKED),
ParkingSpot(width=1.14),
],
)
],
)
)
road.append(LeftCircularArc(radius=1.41, angle=math.radians(140)))
road.append(StraightRoad(length=1.53))
road.append(Intersection(angle=math.radians(70), size=1.8))
road.append(RightCircularArc(radius=1.285, angle=math.radians(290)))
road.append(Intersection(angle=math.radians(110), size=1.8))
road.append(RightCircularArc(radius=1.81, angle=math.radians(50)))
road.append(LeftCircularArc(radius=2.24, angle=math.radians(20)))
road.append(StraightRoad(length=3.94))
road.append(LeftCircularArc(radius=1.26, angle=math.radians(90)))
road.append(StraightRoad(length=1.06))
road.append(LeftCircularArc(radius=1.28, angle=math.radians(90)))
road.append(StraightRoad(length=0.05))
"""A simple road for the onboarding task."""
import math
import os
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import Intersection, StraightRoad
road = Road()
road.append(StraightRoad(length=4))
# Read turn / angle / rule from environment variables
turn = int(os.environ.get("INTERSECTION_TURN", Intersection.STRAIGHT))
angle = math.radians(float(os.environ.get("INTERSECTION_ANGLE", 90)))
rule = int(os.environ.get("INTERSECTION_RULE", Intersection.EQUAL))
road.append(Intersection(turn=turn, angle=angle, rule=rule))
road.append(StraightRoad(length=4))
depth=0.4,
spots=[
ParkingSpot(kind=ParkingSpot.FREE, width=0.5),
ParkingSpot(kind=ParkingSpot.OCCUPIED,
width=0.7,
obstacle=ParkingObstacle()),
ParkingSpot(kind=ParkingSpot.BLOCKED),
],
)
],
)
# - Ending sphinx parking_area -
# - Beginning sphinx intersection -
intersection = Intersection(size=2,
turn=Intersection.RIGHT,
angle=math.radians(110))
# - Ending sphinx intersection -
# - Beginning sphinx zebra_crossing -
zebra_crossing = ZebraCrossing(length=0.5)
# - Ending sphinx zebra_crossing -
# - Beginning sphinx left_arc -
left_arc = LeftCircularArc(radius=2, angle=math.radians(90))
# - Ending sphinx left_arc -
# - Beginning sphinx blocked_area -
blocked_area = BlockedArea(length=1, width=0.2)
# - Ending sphinx blocked_area -
depth=0.5,
spots=[
ParkingSpot(kind=ParkingSpot.BLOCKED),
ParkingSpot(),
ParkingSpot(kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
],
),
],
right_lots=[
ParkingLot(
start=1.5,
spots=[
ParkingSpot(width=0.7, kind=ParkingSpot.BLOCKED),
ParkingSpot(width=0.7),
],
)
],
)
road.append(parking_area)
road.append(LeftCircularArc(radius=2, angle=math.radians(90)))
road.append(LeftCircularArc(radius=1.5, angle=math.radians(90)))
road.append(RightCircularArc(radius=1.5, angle=math.radians(90)))
road.append(LeftCircularArc(radius=2.5, angle=math.radians(60)))
road.append(StraightRoad(length=0.8))
road.append(LeftCircularArc(radius=2.5, angle=math.radians(120)))
road.append(Intersection(size=3.2, angle=math.radians(110)))
road.append(StraightRoad(length=1.66))
road.append(LeftCircularArc(radius=1, angle=math.radians(90)))
road.close_loop()
import os
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import Intersection, StraightRoad
def direction_str_to_int(env: str) -> int:
"""Convert a turn env variable to an Intersection attribute.
This allows to specify "straight,left,right" as turn options through environment
variables.
"""
turn = os.environ.get(env, "straight")
return getattr(Intersection, turn.upper())
# Read environment variables:
first_turn = direction_str_to_int("FIRST_TURN")
second_turn = direction_str_to_int("SECOND_TURN")
"""Definition of the actual road.
Just a straight beginning and then two intersections.
"""
road = Road()
road.append(StraightRoad(length=2))
road.append(Intersection(turn=first_turn, rule=Intersection.STOP))
road.append(StraightRoad(length=1))
road.append(Intersection(turn=second_turn, rule=Intersection.YIELD))
road.append(StraightRoad(length=2))
"""Convert a rule env variable to an Intersection attribute.
This allows to specify "equal, yield, stop, priority_yield, priority_stop" as rule
options through environment variables.
"""
rule = os.environ.get(env, "equal")
return getattr(Intersection, rule.upper())
# Read environment variables:
first_turn = direction_str_to_int("FIRST_TURN")
second_turn = direction_str_to_int("SECOND_TURN")
first_rule = rule_str_to_int("FIRST_RULE")
second_rule = rule_str_to_int("SECOND_RULE")
first_angle = math.radians(float(os.environ.get("FIRST_ANGLE", 90)))
second_angle = math.radians(float(os.environ.get("SECOND_ANGLE", 90)))
distance = float(os.environ.get("INTERSECTION_DISTANCE", 1))
"""Definition of the actual road.
Just a straight beginning and then two intersections with a short straight in between.
"""
road = Road()
road.append(StraightRoad(length=2))
road.append(Intersection(turn=first_turn, angle=first_angle, rule=first_rule))
road.append(StraightRoad(length=distance))
road.append(Intersection(turn=second_turn, angle=second_angle, rule=second_rule))
road.append(StraightRoad(length=2))
y=-0.2,
width=0.3,
depth=0.25),
),
ParkingSpot(kind=ParkingSpot.BLOCKED),
],
)
],
))
road.append(
LeftCircularArc(radius=2,
angle=math.pi / 2,
right_line_marking=RoadSection.MISSING_LINE_MARKING))
road.append(StraightRoad(length=0.45))
road.append(LeftCircularArc(radius=2, angle=math.pi / 2))
road.append(Intersection(size=3, turn=Intersection.RIGHT))
road.append(
LeftCircularArc(radius=1.5, angle=math.pi, obstacles=[StaticObstacle()]))
road.append(Intersection(size=3, turn=Intersection.RIGHT))
left_arc = LeftCircularArc(
radius=1.5,
angle=math.pi / 2,
left_line_marking=RoadSection.MISSING_LINE_MARKING,
)
left_arc.add_speed_limit(arc_length=0, speed=30)
road.append(left_arc)
road.append(ZebraCrossing())
road.append(StraightRoad(length=1))
)
road.append(custom_part_one)
road.append(StraightRoad(length=0.1))
road.append(RightCircularArc(radius=3, angle=math.radians(17)))
road.append(StraightRoad(length=0.08))
road.append(
CubicBezier(
p1=Point(0.1, 0),
p2=Point(0.9, -0.05),
p3=Point(1.0, -0.05),
left_line_marking=StraightRoad.MISSING_LINE_MARKING,
right_line_marking=StraightRoad.MISSING_LINE_MARKING,
middle_line_marking=StraightRoad.MISSING_LINE_MARKING,
)
)
road.append(
CustomSection.from_yaml(
os.path.join(os.path.dirname(__file__), "./cc20_scans/training_loop.yaml")
)
)
road.append(StraightRoad(length=0.85))
road.append(
Intersection(size=1.1, angle=math.radians(82), exit_direction=Intersection.STRAIGHT)
)
road.append(
CustomSection.from_yaml(
os.path.join(os.path.dirname(__file__), "./cc20_scans/training_part2.yaml")
)
)
road.close_loop()