social_agent1 = SocialAgentActor(
name="zoo-car1",
agent_locator="scenarios.zoo_intersection.agent_prefabs:zoo-agent2-v0",
initial_speed=20,
)
social_agent2 = SocialAgentActor(
name="zoo-car2",
agent_locator="scenarios.zoo_intersection.agent_prefabs:zoo-agent2-v0",
initial_speed=20,
)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent2,
name=f"s-agent-{social_agent2.name}",
missions=[Mission(RandomRoute())],
)
gen_social_agent_missions(
scenario,
social_agent_actor=social_agent1,
name=f"s-agent-{social_agent1.name}",
missions=[
EndlessMission(begin=("edge-south-SN", 0, 30)),
Mission(
Route(begin=("edge-west-WE", 0, 10), end=("edge-east-WE", 0, 10))),
],
)
# Agent Missions
gen_missions(
)
patient_car = TrafficActor(
name="car",
speed=Distribution(sigma=0.2, mean=0.5),
lane_changing_model=LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=JunctionModel(drive_after_yellow_time=1.0, impatience=0.5),
)
car_type = patient_car
car_name = "patient_car"
traffic = Traffic(
flows=[
Flow(
route=RandomRoute(),
begin=0,
end=1
* 60
* 60, # make sure end time is larger than the time of one episode
rate=30,
actors={car_type: 1},
)
for i in range(sv_num)
]
)
print(f"generate flow with {sv_num} social {car_name} vehicles in {scenario_path} ")
gen_traffic(
scenario_path,
Flow,
Route,
RandomRoute,
TrafficActor,
Mission,
)
scenario = os.path.dirname(os.path.realpath(__file__))
agent_missions = [
Mission(Route(begin=("left_in", 1, 20), end=("right_out", (0,), 40))),
Mission(Route(begin=("left_in", 1, 40), end=("off_ramp", (0,), 40))),
Mission(Route(begin=("left_in", 0, 20), end=("off_ramp", (0,), 40))),
Mission(Route(begin=("left_in", 0, 50), end=("right_out", (0,), 40))),
]
gen_missions(scenario, agent_missions, overwrite=True)
gen_traffic(
scenario,
Traffic(
flows=[
Flow(
route=RandomRoute(), rate=3600, actors={TrafficActor(name="car"): 1.0},
)
]
),
name="random",
overwrite=True,
)