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])
def scenarios():
with temp_scenario(name="straight", map="maps/straight.net.xml") as scenario_root:
ego_missions = [
# missions of laner and buddha
t.Mission(
t.Route(
begin=("west", 0, 30),
end=("east", 0, "max"),
)
),
t.Mission(
t.Route(
begin=("west", 0, 40),
end=("east", 0, "max"),
)
),
]
gen_scenario(
t.Scenario(ego_missions=ego_missions),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots(
[str(scenario_root)], [AGENT_1, AGENT_2]
)
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(bubble):
with temp_scenario(name="straight",
map="maps/straight.net.xml") as scenario_root:
gen_scenario(
t.Scenario(traffic={}, bubbles=[bubble]),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[])
def scenarios(request):
with temp_scenario(name="map", map=request.param[0]) as scenario_root:
mission = t.Mission(route=t.Route(begin=("edge-west-WE", 0, 10),
end=(request.param[1], 0, 40)))
gen_scenario(
t.Scenario(ego_missions=[mission]),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def scenario():
with temp_scenario(name="map",
map="maps/straight.net.xml") as scenario_root:
mission = t.Mission(route=t.Route(
begin=("west", 1, 99.9),
end=("east", 1, 10.0),
))
gen_scenario(
t.Scenario(ego_missions=[mission]),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def uturn_scenarios():
with temp_scenario(name="straight",
map="maps/6lane.net.xml") as scenario_root:
ego_missions = [
t.Mission(
route=t.Route(begin=("edge-west-WE", 0, 30),
end=("edge-west-EW", 0, "max")),
task=t.UTurn(),
),
]
gen_scenario(
t.Scenario(ego_missions=ego_missions),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[AGENT_ID])
def scenarios():
with temp_scenario(name="6lane", map="maps/6lane.net.xml") as scenario_root:
actors = [
t.SocialAgentActor(
name=f"non-interactive-agent-{speed}-v0",
agent_locator="zoo.policies:non-interactive-agent-v0",
policy_kwargs={"speed": speed},
)
for speed in [10, 30, 80]
]
def to_mission(start_edge, end_edge):
route = t.Route(begin=(start_edge, 1, 0), end=(end_edge, 1, "max"))
return t.Mission(route=route)
def fifth_mission(start_edge, end_edge):
route = t.Route(begin=(start_edge, 0, 0), end=(end_edge, 0, "max"))
return t.Mission(route=route)
gen_scenario(
t.Scenario(
social_agent_missions={
"group-1": (actors, [to_mission("edge-north-NS", "edge-south-NS")]),
"group-2": (actors, [to_mission("edge-west-WE", "edge-east-WE")]),
"group-3": (actors, [to_mission("edge-east-EW", "edge-west-EW")]),
"group-4": (actors, [to_mission("edge-south-SN", "edge-north-SN")]),
"group-5": (
actors,
[fifth_mission("edge-south-SN", "edge-east-WE")],
),
},
ego_missions=[
t.Mission(
t.Route(
begin=("edge-west-WE", 0, 0), end=("edge-east-WE", 0, "max")
)
)
],
),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots(
[str(scenario_root)], [AGENT_1]
)
def scenarios(bubbles, num_vehicles):
with temp_scenario(name="6lane",
map="maps/6lane.net.xml") as scenario_root:
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("edge-west-WE", lane, 0),
end=("edge-east-WE", lane, "max"),
),
rate=10,
actors={t.TrafficActor(name="car"): 1},
) for lane in range(num_vehicles)
])
gen_scenario(
t.Scenario(traffic={"all": traffic}, bubbles=bubbles),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)],
[])
def scenarios(bubble):
with temp_scenario(name="straight", map="maps/straight.net.xml") as scenario_root:
traffic = t.Traffic(
flows=[
t.Flow(
route=t.Route(
begin=("west", lane_idx, 0), end=("east", lane_idx, "max"),
),
rate=50,
actors={t.TrafficActor("car"): 1,},
)
for lane_idx in range(3)
]
)
gen_scenario(
t.Scenario(traffic={"all": traffic}, bubbles=[bubble]),
output_dir=scenario_root,
)
yield Scenario.variations_for_all_scenario_roots([str(scenario_root)], [])
begin=(f"gneE17", 0, 2),
end=(f"gneE5", 1, 120),
),
rate=1,
actors={
impatient_car: 0.5,
patient_car: 0.5
},
)
]),
"2":
t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=(f"gneE22", 0, 2),
end=(f"gneE5", 0, 120),
),
rate=1,
actors={
impatient_car: 0.5,
patient_car: 0.5
},
)
]),
}
gen_scenario(
t.Scenario(ego_missions=missions, traffic=traffic),
output_dir=Path(__file__).parent,
)
from pathlib import Path
from smarts.sstudio import gen_scenario
from smarts.sstudio import types as t
gen_scenario(
t.Scenario(
traffic_histories=[
"i80_0400-0415.yml",
"i80_0500-0515.yml",
"i80_0515-0530.yml",
],
),
output_dir=Path(__file__).parent,
)
from smarts.sstudio import gen_scenario
from smarts.sstudio.types import Mission, Route, Scenario, SocialAgentActor
actors = [
SocialAgentActor(
name=f"non-interactive-agent-{speed}-v0",
agent_locator="zoo.policies:non-interactive-agent-v0",
policy_kwargs={"speed": speed},
)
for speed in [10, 30, 80]
]
def to_mission(start_edge, end_edge):
route = Route(begin=(start_edge, 1, 0), end=(end_edge, 1, "max"))
return Mission(route=route)
gen_scenario(
Scenario(
social_agent_missions={
"group-1": (actors, [to_mission("edge-north-NS", "edge-south-NS")]),
"group-2": (actors, [to_mission("edge-west-WE", "edge-east-WE")]),
"group-3": (actors, [to_mission("edge-east-EW", "edge-west-EW")]),
"group-4": (actors, [to_mission("edge-south-SN", "edge-north-SN")]),
}
),
output_dir=Path(__file__).parent,
)
from pathlib import Path
from smarts.sstudio import gen_scenario
from smarts.sstudio import types as t
traffic = t.Traffic(flows=[
t.Flow(
route=t.RandomRoute(),
rate=60 * 60,
actors={t.TrafficActor(name="car", vehicle_type=vehicle_type): 1},
) for vehicle_type in [
"passenger",
"bus",
"coach",
"truck",
"trailer",
"passenger",
"bus",
"coach",
"truck",
"trailer",
]
])
gen_scenario(
t.Scenario(traffic={"basic": traffic}, ),
output_dir=Path(__file__).parent,
)
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,
)
from pathlib import Path
from smarts.sstudio import gen_scenario
from smarts.sstudio import types as t
gen_scenario(
t.Scenario(traffic_histories=[
"us101_0750-0805.yml",
"us101_0805-0820.yml",
"us101_0820-0835.yml",
], ),
output_dir=Path(__file__).parent,
)
"coach",
"truck",
"trailer",
]
])
laner_actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={
"all": ([laner_actor], [t.Mission(route=t.RandomRoute())])
},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(10, 15)),
margin=5,
actor=laner_actor,
follow_actor_id=t.Bubble.to_actor_id(laner_actor,
mission_group="all"),
follow_offset=(-7, 10),
),
],
),
output_dir=Path(__file__).parent,
)
from pathlib import Path
from smarts.sstudio import gen_scenario
from smarts.sstudio.types import (
Route,
Mission,
Scenario,
)
missions = [
Mission(Route(begin=("edge-south-SN", 1, 40),
end=("edge-west-EW", 0, 60))),
Mission(Route(begin=("edge-west-WE", 1, 50), end=("edge-east-WE", 0, 60))),
Mission(Route(begin=("edge-north-NS", 0, 40),
end=("edge-south-NS", 1, 40))),
Mission(Route(begin=("edge-east-EW", 0, 50), end=("edge-west-EW", 1, 40))),
]
gen_scenario(
Scenario(ego_missions=missions),
output_dir=Path(__file__).parent,
)
def main(args):
all_args = get_args(args)
num_agents = all_args.num_agents
num_lanes = all_args.num_lanes
born_lane_id = all_args.born_lane_id
born_position_offset = all_args.born_position_offset
target_lane_id = all_args.target_lane_id
target_position_offset = all_args.target_position_offset
trajectory_boid_agent = t.BoidAgentActor(
name="trajectory-boid",
agent_locator="scenarios.straight.agent_prefabs:trajectory-boid-agent-v0",
)
pose_boid_agent = t.BoidAgentActor(
name="pose-boid",
agent_locator="scenarios.straight.agent_prefabs:pose-boid-agent-v0",
)
traffic = t.Traffic(
flows=[
t.Flow(
route=t.Route(begin=("west", lane_idx, 0), end=("east", lane_idx, "max"),),
rate=50,
actors={t.TrafficActor("car"): 1},
)
for lane_idx in range(num_lanes)
]
)
assert len(target_position_offset) == len(born_position_offset) == num_agents, ("different number")
assert num_lanes <= 3, ("number of lanes can not exceed 3")
for _i in range(num_agents):
assert (born_lane_id[_i]<=2), ("the born_land_id can not exceed 2.")
assert (target_lane_id[_i]<=2), ("the target_land_id can not exceed 2.")
if not born_position_offset[_i] in ["max", "random"]:
assert int(born_position_offset[_i])<=100, ("the born_position_offset should use value 0~100 or max or random.")
if not target_position_offset[_i] in ["max", "random"]:
assert int(target_position_offset[_i])<=100, ("the target_position_offset should use value 0~100 or max or random.")
print("pass the assertion")
missions = [t.Mission(t.Route(begin=("west", born_lane_id[agent_idx], born_position_offset[agent_idx]), end=("east", target_lane_id[agent_idx], target_position_offset[agent_idx]))) for agent_idx in range(num_agents)]
scenario = t.Scenario(
traffic={"all": traffic},
ego_missions=missions,
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(40, 20)),
margin=5,
actor=trajectory_boid_agent,
),
t.Bubble(
zone=t.PositionalZone(pos=(150, 0), size=(50, 20)),
margin=5,
actor=pose_boid_agent,
keep_alive=True,
),
],
)
gen_scenario(scenario, output_dir=str(Path(__file__).parent))
t.TrafficActor(
name="car",
vehicle_type=random.choice([
"passenger", "bus", "coach", "truck"
]),
speed=t.Distribution(1, 0.3),
max_speed=10,
):
1
},
) for _ in range(NUM_TRAFFIC_FLOWS)
])
lane_actor_list = [
t.SocialAgentActor(
name=f"keep-lane-agent-{idx}",
agent_locator="zoo.policies:keep-lane-agent-v0",
policy_kwargs={'speed': random.choice([5.5, 6, 6.5, 7, 7.5, 8, 9])})
for idx in range(10)
]
mission_list = [t.Mission(route=t.RandomRoute()) for _ in range(10)]
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={"all": (lane_actor_list, mission_list)},
),
output_dir=Path(__file__).parent,
)
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("west", lane_idx, 0),
end=("east", lane_idx, "max"),
),
rate=50,
actors={t.TrafficActor("car"): 1},
) for lane_idx in range(3)
])
scenario = t.Scenario(
traffic={"all": traffic},
bubbles=[
t.Bubble(
zone=t.PositionalZone(pos=(50, 0), size=(40, 20)),
margin=5,
actor=trajectory_boid_agent,
),
t.Bubble(
zone=t.PositionalZone(pos=(150, 0), size=(50, 20)),
margin=5,
actor=pose_boid_agent,
keep_alive=True,
),
],
)
gen_scenario(scenario, output_dir=str(Path(__file__).parent))
),
]
ego_missions = [t.EndlessMission(begin=("edge-south-SN", 1, 20), )]
social_agent_missions = {
"all": (
[
t.SocialAgentActor(name="open-agent",
agent_locator="open_agent:open_agent-v0"),
t.SocialAgentActor(name="rl-agent",
agent_locator="rl_agent:rl-agent-v1"),
],
[
t.Mission(
t.Route(begin=("edge-west-WE", 1, 10),
end=("edge-east-WE", 1, "max")))
],
),
}
gen_scenario(
scenario=t.Scenario(
traffic={"basic": traffic},
bubbles=bubbles,
ego_missions=ego_missions,
social_agent_missions=social_agent_missions,
),
output_dir=Path(__file__).parent,
)
