def main(scenarios, headless, seed): scenarios_iterator = Scenario.scenario_variations(scenarios, []) smarts = SMARTS( agent_interfaces={}, traffic_sim=SumoTrafficSimulation(headless=True, auto_start=True), envision=Envision(), ) for _ in scenarios: scenario = next(scenarios_iterator) agent_missions = scenario.discover_missions_of_traffic_histories() for agent_id, mission in agent_missions.items(): scenario.set_ego_missions({agent_id: mission}) agent_spec = AgentSpec( interface=AgentInterface.from_type(AgentType.Laner, max_episode_steps=None), agent_builder=KeepLaneAgent, ) agent = agent_spec.build_agent() smarts.switch_ego_agent({agent_id: agent_spec.interface}) observations = smarts.reset(scenario) dones = {agent_id: False} while not dones[agent_id]: agent_obs = observations[agent_id] agent_action = agent.act(agent_obs) observations, rewards, dones, infos = smarts.step( {agent_id: agent_action}) smarts.destroy()
def main(scenarios, headless, seed): scenarios_iterator = Scenario.scenario_variations(scenarios, []) smarts = SMARTS( agent_interfaces={}, traffic_sim=None, envision=None if headless else Envision(), ) for _ in scenarios: scenario = next(scenarios_iterator) agent_missions = scenario.discover_missions_of_traffic_histories() for agent_id, mission in agent_missions.items(): agent_spec = AgentSpec( interface=AgentInterface.from_type(AgentType.LanerWithSpeed, max_episode_steps=None), agent_builder=KeepLaneAgent, agent_params=scenario.traffic_history_target_speed, ) agent = agent_spec.build_agent() # Take control of vehicle with corresponding agent_id smarts.switch_ego_agent({agent_id: agent_spec.interface}) # tell the traffic history provider to start traffic # at the point when this agent enters... traffic_history_provider = smarts.get_provider_by_type( TrafficHistoryProvider) assert traffic_history_provider traffic_history_provider.start_time = mission.start_time # agent vehicle will enter right away... modified_mission = replace(mission, start_time=0.0) scenario.set_ego_missions({agent_id: modified_mission}) observations = smarts.reset(scenario) dones = {agent_id: False} while not dones.get(agent_id, True): agent_obs = observations[agent_id] agent_action = agent.act(agent_obs) observations, rewards, dones, infos = smarts.step( {agent_id: agent_action}) smarts.destroy()