from pathlib import Path
from smarts.core import seed
from smarts.sstudio import gen_scenario
from smarts.sstudio import types as t
seed(42)
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",
]
])
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={
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))
import random
from pathlib import Path
from smarts.sstudio import types as t
from smarts.sstudio import gen_scenario
traffic = t.Traffic(flows=[
t.Flow(
route=t.RandomRoute(),
rate=60 * 60,
actors={
t.TrafficActor(
name="car",
vehicle_type=random.choice([
"passenger", "bus", "coach", "truck", "trailer"
]),
):
1
},
) for i in range(5)
])
laner_actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
slow_actor = t.SocialAgentActor(
name=f"slow-agent",
agent_locator="zoo.policies:non-interactive-agent-v0",
policy_kwargs={"speed": 10},
from pathlib import Path
from typing import Any, Tuple
import smarts.sstudio.types as types
from smarts.sstudio import gen_missions, gen_traffic
scenario = str(Path(__file__).parent)
patient_car = types.TrafficActor(name="car", )
shared_route = types.Route(
begin=("edge-east", 0, 20),
end=("edge-west", 0, 0),
)
traffic = types.Traffic(
flows=[types.Flow(
route=shared_route,
rate=1,
actors={patient_car: 1},
)])
gen_missions(
scenario,
missions=[
types.Mission(shared_route),
],
)
gen_traffic(scenario, traffic, "traffic")
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(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)),
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.Route(begin=("edge-west-WE", 0, 10),
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(
name="car",
speed=t.Distribution(sigma=0.2, mean=0.8),
lane_changing_model=t.LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=t.JunctionModel(drive_after_yellow_time=1.0,
impatience=0.5),
)
traffic = {
"1":
t.Traffic(flows=[
t.Flow(
route=t.Route(
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={
turn_right_routes = [
("south-SN", "east-WE"),
("west-WE", "south-NS"),
("north-NS", "west-EW"),
("east-EW", "north-SN"),
]
traffic = {
name: t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=(f"edge-{r[0]}", 0, "random"),
end=(f"edge-{r[1]}", 0, "random"),
),
rate=1,
actors={
impatient_car: 0.5,
patient_car: 0.5
},
) for r in routes
])
for (name, routes) in {
"vertical":
vertical_routes,
"horizontal":
horizontal_routes,
"unprotected_left":
turn_left_routes,
"turns":
turn_left_routes + turn_right_routes,
),
)
patient_car = t.TrafficActor(
name="car",
speed=t.Distribution(sigma=0.2, mean=0.8),
lane_changing_model=t.LaneChangingModel(impatience=0, cooperative=0.5),
junction_model=t.JunctionModel(drive_after_yellow_time=1.0, impatience=0.5),
)
traffic = {
"1": t.Traffic(
flows=[
t.Flow(
route=t.Route(begin=(f"-gneE1", 0, 35), end=(f"-gneE1", 0, 100),),
rate=1,
actors={impatient_car: 0.5, patient_car: 0.5},
)
]
),
"2": t.Traffic(
flows=[
t.Flow(
route=t.Route(begin=(f"gneE1", 0, 35), end=(f"gneE1", 0, 100),),
rate=1,
actors={impatient_car: 0.5, patient_car: 0.5},
)
]
),
}
from smarts.sstudio import types as t
NUM_TRAFFIC_FLOWS = 350
traffic = t.Traffic(flows=[
t.Flow(
route=t.RandomRoute(),
rate=60 * 2,
actors={
t.TrafficActor(
name="car",
vehicle_type=random.choices(
[
"passenger",
"bus",
"coach",
"truck",
"trailer",
],
weights=[5, 1, 1, 1, 1],
k=1,
)[0],
):
1
},
) for _ in range(NUM_TRAFFIC_FLOWS)
])
laner_actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
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.Route(
begin=("west", 0, 10),
end=("east", 0, "max"),
),
rate=1,
actors={t.TrafficActor("car", max_speed=8): 1},
begin=2,
)
]
)
social_agent_missions = {
"all": (
[
t.SocialAgentActor(
name="open-agent",
agent_locator="open_agent:open_agent-v0",
initial_speed=20,
),
],
[
t.Mission(
t.Route(begin=("west", 1, 10), end=("east", 0, "max")),
from pathlib import Path
from smarts.sstudio import types as t
from smarts.sstudio import gen_scenario
NUM_TRAFFIC_FLOWS = 60
traffic = t.Traffic(flows=[
t.Flow(
route=t.RandomRoute(),
rate=60 * 5,
actors={
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)
import os
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.Route(begin=("edge-west-EW", 0, 10),
end=("edge-west-EW", 0, "max")),
rate=1,
actors={t.TrafficActor(name="car", max_speed=30 / 3.6): 1.0},
begin=2,
)
])
social_agent_missions = {
"all": (
[
t.SocialAgentActor(
name="open-agent-default",
agent_locator="open_agent:open_agent-v0",
# policy_kwargs={"gains": stable_config},
),
],
[
t.Mission(
t.Route(begin=("edge-west-WE", 0, 10),
end=("edge-west-EW", 0, "max")),
task=t.UTurn(target_lane_index=0),
),
act1 = t.TrafficActor(name="car",
speed=t.Distribution(mean=1.0, sigma=0.1),
min_gap=t.Distribution(mean=2.5, sigma=0))
act2 = t.TrafficActor(name="car",
speed=t.Distribution(mean=1.0, sigma=0.3),
min_gap=t.Distribution(mean=2.5, sigma=0.2))
traffic = t.Traffic(flows=[
t.Flow(
route=t.Route(
begin=("west", lane_idx, "random"),
end=("east", lane_idx, "max"),
),
# route=t.RandomRoute(),
# rate=50,
end=2 * 60 * 60,
rate=600,
# actors={t.TrafficActor("car"): 1},
actors={
act1: 0.5,
act2: 0.5
},
# actors={t.TrafficActor(name="car", speed = t.Distribution(mean=1.0, sigma=0), min_gap = t.Distribution(mean=2.5, sigma=0)): 1},
) for lane_idx in range(3)
])
missions = [
# t.Mission(t.Route(begin=("west", 1, 10), end=("east", 1, 90))),
t.Mission(t.Route(begin=("west", 1, 5), end=("east", 0, "max"))),
]
scenario = t.Scenario(
