def GenerateRuntime():
# parameters
param_server = ParameterServer()
# configure both lanes of the highway. the right lane has one controlled agent
left_lane = CustomLaneCorridorConfig(params=param_server,
lane_corridor_id=0,
road_ids=[0, 1],
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("DR_DEU_Merging_MT_v01_shifted"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
env = Runtime(step_time=0.2,
viewer=viewer,
scenario_generator=scenarios,
render=True,
maintain_world_history=True)
return env
def __init__(self,
params=None,
number_of_senarios=250,
random_seed=0,
ml_behavior=None,
viewer=True):
params["BehaviorIDMClassic"]["BrakeForLaneEnd"] = True
params["BehaviorIDMClassic"]["BrakeForLaneEndEnabledDistance"] = 100.
params["BehaviorIDMClassic"]["BrakeForLaneEndDistanceOffset"] = 25.
params["BehaviorIDMClassic"]["DesiredVelocity"] = 12.5
params["World"]["remove_agents_out_of_map"] = False
left_lane = MergingLaneCorridorConfig(params=params,
road_ids=[0, 1],
min_vel=10.,
max_vel=15.,
s_min=5.,
s_max=25.,
lane_corridor_id=0,
controlled_ids=None)
right_lane = MergingLaneCorridorConfig(
params=params,
road_ids=[0, 1],
lane_corridor_id=1,
s_min=5.,
s_max=25.,
min_vel=8.,
max_vel=12.,
behavior_model=BehaviorIDMClassic(params),
controlled_ids=True)
scenario_generation = \
ConfigWithEase(
num_scenarios=number_of_senarios,
map_file_name=os.path.join(os.path.dirname(__file__), "../../../environments/blueprints/merging/DR_DEU_Merging_MT_v01_shifted.xodr"), # NOLINT
random_seed=random_seed,
params=params,
lane_corridor_configs=[left_lane, right_lane])
if viewer:
viewer = MPViewer(params=params,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
dt = 0.2
evaluator = GoalReachedGuiding(params)
# evaluator = GoalReached(params)
observer = NearestObserver(params)
ml_behavior = ml_behavior
super().__init__(scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
def __init__(self,
params=None,
number_of_senarios=250,
random_seed=0,
ml_behavior=None,
viewer=True):
params["BehaviorIDMClassic"]["DesiredVelocity"] = 30.
left_lane = HighwayLaneCorridorConfig(params=params,
road_ids=[16],
lane_corridor_id=0,
min_vel=25.0,
max_vel=30.0,
controlled_ids=None)
right_lane = HighwayLaneCorridorConfig(params=params,
road_ids=[16],
lane_corridor_id=1,
min_vel=25.0,
max_vel=30.0,
controlled_ids=True)
scenario_generation = \
ConfigWithEase(
num_scenarios=number_of_senarios,
map_file_name=os.path.join(os.path.dirname(__file__), "../../../environments/blueprints/highway/city_highway_straight.xodr"), # NOLINT
random_seed=random_seed,
params=params,
lane_corridor_configs=[left_lane, right_lane])
if viewer:
viewer = MPViewer(params=params,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
dt = 0.2
evaluator = GoalReachedGuiding(params)
observer = NearestObserver(params)
ml_behavior = ml_behavior
super().__init__(
scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("DR_DEU_Merging_MT_v01_centered"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(
params=param_server,
# x_range=[-35, 35],
# y_range=[-35, 35],
follow_agent_id=False)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor", "execution in real-time or faster", 1.]
# configure both lanes of the highway. the right lane has one controlled agent
left_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=0)
right_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=1,
controlled_ids=True)
# create 5 scenarios
scenarios = \
ConfigWithEase(
num_scenarios=5,
map_file_name=os.path.join(
os.path.dirname(__file__),
"../bark/runtime/tests/data/city_highway_straight.xodr"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-75, 75],
y_range=[-75, 75],
follow_agent_id=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor",
road_ids=[0, 1],
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name="examples/data/DR_DEU_Merging_MT_v01_shifted.xodr",
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
viewer = BufferedViewer()
env = Runtime(step_time=0.2,
viewer=viewer,
scenario_generator=scenarios,
render=True,
maintain_world_history=True)
# run BARKSCAPE
logger = logging.getLogger()
custom_stream = CustomStream(logger=logger)
bark_server = BaseServer(runner=BARKRunner,
runnable_object=env,
params=param_server,
source_pos=[3, -30],
sink_pos=[-30, 3],
behavior_model=BehaviorIntersectionRuleBased(param_server),
controlled_ids=True,
min_vel=5.,
max_vel=5.,
ds_min=5.,
ds_max=10.,
s_min=15.,
s_max=30.))
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=Data.xodr_data("threeway_intersection"),
random_seed=0,
params=param_server,
lane_corridor_configs=lane_corridors)
viewer = BufferedViewer()
env = Runtime(step_time=0.2,
viewer=viewer,
scenario_generator=scenarios,
render=True,
maintain_world_history=True)
# run BARKSCAPE
logger = logging.getLogger()
bark_server = BaseServer(runner=BARKRunner,
runnable_object=env,
logger=logger)
# configure both lanes of the highway. the right lane has one controlled agent
left_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=0)
right_lane = HighwayLaneCorridorConfig(params=param_server,
road_ids=[16],
lane_corridor_id=1,
controlled_ids=True)
# create 5 scenarios
scenarios = \
ConfigWithEase(
num_scenarios=5,
map_file_name=Data.xodr_data("city_highway_straight"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-75, 75],
y_range=[-75, 75],
follow_agent_id=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor", "execution in real-time or faster", 0.5]
def __init__(self,
params=None,
num_scenarios=250,
random_seed=0,
ml_behavior=None,
viewer=True,
mode="medium"):
if mode == "dense":
ds_min = 15.
ds_max = 30.
if mode == "medium":
ds_min = 20.
ds_max = 35.
params["World"]["remove_agents_out_of_map"] = False
ego_lane_id = 2
lane_configs = []
for i in range(0, 4):
is_controlled = True if (ego_lane_id == i) else None
s_min = 0
s_max = 250
if is_controlled == True:
s_min = 40.
s_max = 80.
local_params = params.clone()
local_params["BehaviorIDMClassic"][
"DesiredVelocity"] = np.random.uniform(12, 17)
lane_conf = HighwayLaneCorridorConfig(params=local_params,
road_ids=[16],
lane_corridor_id=i,
min_vel=12.5,
max_vel=17.5,
ds_min=ds_min,
ds_max=ds_max,
s_min=s_min,
s_max=s_max,
controlled_ids=is_controlled)
lane_configs.append(lane_conf)
scenario_generation = \
ConfigWithEase(
num_scenarios=num_scenarios,
map_file_name=os.path.join(os.path.dirname(__file__), "../../../environments/blueprints/highway/round_highway.xodr"), # pylint: disable=unused-import
random_seed=random_seed,
params=params,
lane_corridor_configs=lane_configs)
if viewer:
# viewer = MPViewer(params=params,
# use_world_bounds=True)
viewer = BufferedMPViewer(params=params,
x_range=[-55, 55],
y_range=[-55, 55],
follow_agent_id=True)
dt = 0.2
params["ML"]["RewardShapingEvaluator"]["PotentialVelocityFunctor"][
"DesiredVel", "Desired velocity for the ego agent.", 20]
evaluator = RewardShapingEvaluator(params)
observer = NearestObserver(params)
ml_behavior = ml_behavior
super().__init__(scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
params=param_server,
source_pos=[3, -30],
sink_pos=[-30, 3],
behavior_model=BehaviorIntersectionRuleBased(param_server),
controlled_ids=True,
min_vel=5.,
max_vel=5.,
ds_min=5.,
ds_max=10.,
s_min=15.,
s_max=30.))
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name= os.path.join(os.path.dirname(__file__),
"../bark/runtime/tests/data/threeway_intersection.xodr"),
random_seed=0,
params=param_server,
lane_corridor_configs=lane_corridors)
# viewer
viewer = MPViewer(params=param_server, use_world_bounds=True)
# viewer = Panda3dViewer(params=param_server,
# x_range=[-40, 40],
# y_range=[-40, 40],
# follow_agent_id=agent3.id)
# World Simulation
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation", 0.2]
sim_real_time_factor = param_server["simulation"][
s_min=5.,
s_max=50.)
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=os.path.join(
os.path.dirname(__file__),
"../bark/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"),
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(params=param_server,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
# viewer = Panda3dViewer(params=param_server,
# x_range=[-40, 40],
# y_range=[-40, 40],
# follow_agent_id=True,
# light_pose=[1000, 1000, 100000],
# camera_pose=[1000, 980, 100])
def __init__(self,
params=None,
num_scenarios=250,
random_seed=0,
ml_behavior=None,
viewer=True):
lane_corridors = []
lane_corridors.append(
IntersectionLaneCorridorConfig(
params=params,
source_pos=[-40, -3],
sink_pos=[40, -3],
behavior_model=BehaviorMobilRuleBased(params),
min_vel=10.,
max_vel=12.,
ds_min=10.,
ds_max=25.,
s_min=5.,
s_max=50.,
controlled_ids=None))
lane_corridors.append(
IntersectionLaneCorridorConfig(
params=params,
source_pos=[40, 3],
sink_pos=[-40, 3],
behavior_model=BehaviorMobilRuleBased(params),
min_vel=10.,
max_vel=12.,
ds_min=15.,
ds_max=25.,
s_min=5.,
s_max=50.,
controlled_ids=None))
lane_corridors.append(
IntersectionLaneCorridorConfig(
params=params,
source_pos=[3, -30],
sink_pos=[-40, 3],
behavior_model=BehaviorMobilRuleBased(params),
min_vel=5.,
max_vel=10.,
ds_min=40.,
ds_max=40.,
s_min=30.,
s_max=40.,
controlled_ids=True))
scenario_generation = \
ConfigWithEase(
num_scenarios=num_scenarios,
map_file_name=os.path.join(os.path.dirname(__file__), "../../../environments/blueprints/intersection/4way_intersection.xodr"), # pylint: disable=unused-import
random_seed=random_seed,
params=params,
lane_corridor_configs=lane_corridors)
if viewer:
viewer = BufferedMPViewer(params=params,
x_range=[-30, 30],
y_range=[-30, 30],
follow_agent_id=True)
dt = 0.2
params["ML"]["RewardShapingEvaluator"]["PotentialVelocityFunctor"][
"DesiredVel", "Desired velocity for the ego agent.", 6]
evaluator = RewardShapingEvaluator(params)
observer = NearestAgentsObserver(params)
ml_behavior = ml_behavior
super().__init__(scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
s_max=50.)
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
map_path = "bark/runtime/tests/data/DR_DEU_Merging_MT_v01_centered.xodr"
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name=map_path,
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
# viewer
viewer = MPViewer(
params=param_server,
# x_range=[-35, 35],
# y_range=[-35, 35],
follow_agent_id=False)
# viewer = Panda3dViewer(params=param_server,
# x_range=[-40, 40],
# y_range=[-40, 40],
# follow_agent_id=True,
# light_pose=[1000, 1000, 100000],
# camera_pose=[1000, 980, 100])
def __init__(self,
params=None,
number_of_senarios=250,
random_seed=0,
ml_behavior=None,
viewer=True):
lane_corridors = []
lane_corridors.append(
IntersectionLaneCorridorConfig(
params=params,
source_pos=[-40, -3],
sink_pos=[40, -3],
behavior_model=BehaviorIntersectionRuleBased(params),
min_vel=10.,
max_vel=15.,
ds_min=10.,
ds_max=15.,
s_min=5.,
s_max=50.,
controlled_ids=None))
lane_corridors.append(
IntersectionLaneCorridorConfig(
params=params,
source_pos=[40, 3],
sink_pos=[-40, 3],
behavior_model=BehaviorIntersectionRuleBased(params),
min_vel=10.,
max_vel=15.,
ds_min=15.,
ds_max=15.,
s_min=5.,
s_max=50.,
controlled_ids=None))
lane_corridors.append(
IntersectionLaneCorridorConfig(
params=params,
source_pos=[3, -30],
sink_pos=[-40, 3],
behavior_model=BehaviorIntersectionRuleBased(params),
min_vel=5.,
max_vel=10.,
ds_min=10.,
ds_max=15.,
s_min=10.,
s_max=25.,
controlled_ids=True))
scenario_generation = \
ConfigWithEase(
num_scenarios=number_of_senarios,
map_file_name=os.path.join(os.path.dirname(__file__), "../../../environments/blueprints/intersection/4way_intersection.xodr"), # NOLINT
random_seed=random_seed,
params=params,
lane_corridor_configs=lane_corridors)
if viewer:
viewer = MPViewer(params=params,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
dt = 0.2
evaluator = GoalReached(params)
observer = NearestObserver(params)
ml_behavior = ml_behavior
super().__init__(scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
def __init__(self,
params=None,
num_scenarios=250,
random_seed=0,
ml_behavior=None,
viewer=True,
mode="dense"):
params["BehaviorIDMClassic"]["BrakeForLaneEnd"] = True
params["BehaviorIDMClassic"]["BrakeForLaneEndEnabledDistance"] = 100.
params["BehaviorIDMClassic"]["BrakeForLaneEndDistanceOffset"] = 30.
params["BehaviorIDMClassic"]["DesiredVelocity"] = 10.
params["World"]["remove_agents_out_of_map"] = False
# TODO: modify dense
# ds_min and ds_max
if mode == "dense":
ds_min = 7.
ds_max = 12.
if mode == "medium":
ds_min = 12.
ds_max = 17.
left_lane = MergingLaneCorridorConfig(params=params,
road_ids=[0, 1],
ds_min=ds_min,
ds_max=ds_max,
min_vel=9.,
max_vel=11.,
s_min=5.,
s_max=45.,
lane_corridor_id=0,
controlled_ids=None)
right_lane = MergingLaneCorridorConfig(params=params,
road_ids=[0, 1],
lane_corridor_id=1,
ds_min=ds_min,
ds_max=ds_max,
s_min=5.,
s_max=25.,
min_vel=9.,
max_vel=11.,
controlled_ids=True)
scenario_generation = \
ConfigWithEase(
num_scenarios=num_scenarios,
map_file_name=os.path.join(os.path.dirname(__file__), "../../../environments/blueprints/merging/DR_DEU_Merging_MT_v01_centered.xodr"), # pylint: disable=unused-import
random_seed=random_seed,
params=params,
lane_corridor_configs=[left_lane, right_lane])
if viewer:
viewer = BufferedMPViewer(params=params,
x_range=[-25, 25],
y_range=[-25, 25],
follow_agent_id=True)
dt = 0.2
params["ML"]["RewardShapingEvaluator"]["PotentialVelocityFunctor"][
"DesiredVel", "Desired velocity for the ego agent.", 20]
evaluator = RewardShapingEvaluator(params)
observer = NearestAgentsObserver(params)
ml_behavior = ml_behavior
super().__init__(scenario_generation=scenario_generation,
viewer=viewer,
dt=dt,
evaluator=evaluator,
observer=observer,
ml_behavior=ml_behavior)
