def two_agent_capture_offset_tenth_of_second():
with temp_scenario(name="straight",
map="maps/straight.net.xml") as scenario_root:
missions = [
t.Mission(
t.Route(begin=("west", 1, 20), end=("east", 1, "max")),
entry_tactic=t.TrapEntryTactic(
wait_to_hijack_limit_s=0,
zone=t.MapZone(start=("west", 0, 1), length=100,
n_lanes=3),
),
),
t.Mission(
t.Route(begin=("west", 2, 10), end=("east", 1, "max")),
entry_tactic=t.TrapEntryTactic(
wait_to_hijack_limit_s=0.1,
zone=t.MapZone(start=("west", 0, 1), length=100,
n_lanes=3),
),
),
]
scenario = t.Scenario(
traffic={},
ego_missions=missions,
)
gen_scenario(scenario, output_dir=scenario_root)
yield Scenario.variations_for_all_scenario_roots(
[str(scenario_root)], [AGENT_ID, AGENT_ID_2])
def scenarios():
with temp_scenario(name="straight",
map="maps/straight.net.xml") as scenario_root:
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("west", 1, 0),
end=("east", 1, "max"),
),
rate=50,
actors={t.TrafficActor("car"): 1},
)
])
missions = [
t.Mission(
t.Route(begin=("west", 1, 10), end=("east", 1, "max")),
entry_tactic=t.TrapEntryTactic(
wait_to_hijack_limit_s=3,
zone=t.MapZone(start=("west", 0, 1), length=100,
n_lanes=3),
),
)
]
scenario = t.Scenario(
traffic={"all": traffic},
ego_missions=missions,
)
gen_scenario(scenario, output_dir=scenario_root)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
laner_actor = t.SocialAgentActor(
name="keep-lane-agent", agent_locator="zoo.policies:keep-lane-agent-v0",
)
travelling_bubbles = [
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(10, 50)),
margin=5,
actor=open_agent_actor,
follow_actor_id=t.Bubble.to_actor_id(laner_actor, mission_group="all"),
follow_offset=(-7, 10),
)
]
static_bubbles = [
t.Bubble(zone=t.MapZone((id_, 0, 10), 200, 1), margin=5, actor=laner_actor,)
for id_ in ["21675239", "126742590#1", "-77720372", "-263506114#6", "-33002812#1"]
]
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={
"all": ([laner_actor, open_agent_actor], [t.Mission(route=t.RandomRoute())])
},
bubbles=[*travelling_bubbles, *static_bubbles],
),
output_dir=Path(__file__).parent,
)
end=("edge-east-WE", 0, "max")),
rate=400,
actors={t.TrafficActor("car"): 1},
),
t.Flow(
route=t.Route(begin=("edge-east-EW", 0, 10),
end=("edge-west-EW", 0, "max")),
rate=400,
actors={t.TrafficActor("car"): 1},
),
])
agent_prefabs = "scenarios.intersections.4lane_t.agent_prefabs"
bubbles = [
t.Bubble(
zone=t.MapZone(start=("edge-west-WE", 0, 50), length=10, n_lanes=1),
margin=2,
actor=t.SocialAgentActor(
name="zoo-agent",
agent_locator=f"{agent_prefabs}:zoo-agent-v0",
),
),
t.Bubble(
zone=t.PositionalZone(pos=(100, 100), size=(20, 20)),
margin=2,
actor=t.SocialAgentActor(
name="motion-planner-agent",
agent_locator=f"{agent_prefabs}:motion-planner-agent-v0",
),
),
]
agent_locator="zoo.policies:keep-lane-agent-v0",
)
travelling_bubbles = [
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(10, 50)),
margin=5,
actor=laner_actor,
follow_actor_id=t.Bubble.to_actor_id(laner_actor, mission_group="all"),
follow_offset=(-7, 10),
)
]
static_bubbles = [
t.Bubble(
zone=t.MapZone((id_, 0, 10), 200, 1),
margin=5,
actor=laner_actor,
) for id_ in
["21675239", "126742590#1", "-77720372", "-263506114#6", "-33002812#1"]
] + [
t.Bubble(
zone=t.PositionalZone(pos=(1012.19, 1084.20), size=(30, 30)),
margin=5,
actor=laner_actor,
)
]
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
