def __init__(
self,
scenarios: Sequence[str],
agent_specs,
shuffle_scenarios=True,
headless=False,
visdom=False,
timestep_sec=0.1,
seed=42,
num_external_sumo_clients=0,
sumo_headless=True,
sumo_port=None,
sumo_auto_start=True,
endless_traffic=True,
envision_endpoint=None,
envision_record_data_replay_path=None,
zoo_workers=None,
auth_key=None,
):
self._log = logging.getLogger(self.__class__.__name__)
smarts.core.seed(seed)
self._agent_specs = agent_specs
self._dones_registered = 0
self._scenarios_iterator = Scenario.scenario_variations(
scenarios, list(agent_specs.keys()), shuffle_scenarios,
)
agent_interfaces = {
agent_id: agent.interface for agent_id, agent in agent_specs.items()
}
envision_client = None
if not headless:
envision_client = Envision(
endpoint=envision_endpoint, output_dir=envision_record_data_replay_path
)
visdom_client = None
if visdom:
visdom_client = VisdomClient()
self._smarts = SMARTS(
agent_interfaces=agent_interfaces,
traffic_sim=SumoTrafficSimulation(
headless=sumo_headless,
time_resolution=timestep_sec,
num_external_sumo_clients=num_external_sumo_clients,
sumo_port=sumo_port,
auto_start=sumo_auto_start,
endless_traffic=endless_traffic,
),
envision=envision_client,
visdom=visdom_client,
timestep_sec=timestep_sec,
zoo_workers=zoo_workers,
auth_key=auth_key,
)
def __init__(self,
scenarios: Sequence[str],
agent_specs: Dict,
shuffle_scenarios=True,
headless=False,
visdom=False,
timestep_sec=0.1,
seed=42,
num_external_sumo_clients=0,
sumo_headless=True,
sumo_port=None,
sumo_auto_start=True,
endless_traffic=True,
envision_endpoint=None,
envision_record_data_replay_path=None,
zoo_addrs=None):
self._metircs = Metric(1)
self.has_connection = False
self._log = logging.getLogger(self.__class__.__name__)
smarts.core.seed(seed) # Set seed for np and random module.
self._agent_specs = agent_specs
self._dones_registered = 0
# Setup ego.
self._ego = agent_specs[EGO_ID].build_agent()
# Setup sceanrios for benchmark.
self._scenarios_iterator = Scenario.scenario_variations(
scenarios,
list(agent_specs.keys()),
shuffle_scenarios,
)
# Setup envision and visdom.
envision_client = None
if not headless:
envision_client = Envision(
endpoint=envision_endpoint,
output_dir=envision_record_data_replay_path)
visdom_client = None
if visdom:
visdom_client = VisdomClient()
# Setup SMARTS
agent_interfaces = {
agent_id: agent.interface
for agent_id, agent in agent_specs.items()
}
self._smarts = SMARTS(
agent_interfaces=agent_interfaces,
traffic_sim=SumoTrafficSimulation(
headless=sumo_headless,
time_resolution=timestep_sec,
num_external_sumo_clients=num_external_sumo_clients,
sumo_port=sumo_port,
auto_start=sumo_auto_start,
endless_traffic=endless_traffic,
),
envision=envision_client,
visdom=visdom_client,
timestep_sec=timestep_sec,
zoo_addrs=zoo_addrs)
def __init__(
self,
scenarios: Sequence[str],
agent_specs: Dict[str, AgentSpec],
sim_name: Optional[str] = None,
shuffle_scenarios: bool = True,
headless: bool = True,
visdom: bool = False,
fixed_timestep_sec: Optional[float] = None,
seed: int = 42,
num_external_sumo_clients: int = 0,
sumo_headless: bool = True,
sumo_port: Optional[str] = None,
sumo_auto_start: bool = True,
endless_traffic: bool = True,
envision_endpoint: Optional[str] = None,
envision_record_data_replay_path: Optional[str] = None,
zoo_addrs: Optional[str] = None,
timestep_sec: Optional[
float
] = None, # for backwards compatibility (deprecated)
):
"""
Args:
scenarios (Sequence[str]): A list of scenario directories that
will be simulated.
agent_specs (Dict[str, AgentSpec]): Specification of the agents
that will run in the environment.
sim_name (Optional[str], optional): Simulation name. Defaults to
None.
shuffle_scenarios (bool, optional): If true, order of scenarios
will be randomized, else it will be maintained. Defaults to
True.
headless (bool, optional): If True, disables visualization in
Envision. Defaults to False.
visdom (bool, optional): If True, enables visualization of observed
RGB images in Visdom. Defaults to False.
fixed_timestep_sec (Optional[float], optional): Step duration for
all components of the simulation. May be None if time deltas
are externally-driven. Defaults to None.
seed (int, optional): Random number generator seed. Defaults to 42.
num_external_sumo_clients (int, optional): Number of SUMO clients
beyond SMARTS. Defaults to 0.
sumo_headless (bool, optional): If True, disables visualization in
SUMO GUI. Defaults to True.
sumo_port (Optional[str], optional): SUMO port. Defaults to None.
sumo_auto_start (bool, optional): Automatic starting of SUMO.
Defaults to True.
endless_traffic (bool, optional): SUMO's endless traffic setting.
Defaults to True.
envision_endpoint (Optional[str], optional): Envision's uri.
Defaults to None.
envision_record_data_replay_path (Optional[str], optional):
Envision's data replay output directory. Defaults to None.
zoo_addrs (Optional[str], optional): List of (ip, port) tuples of
zoo server, used to instantiate remote social agents. Defaults
to None.
timestep_sec (Optional[float], optional): [description]. Defaults
to None.
"""
self._log = logging.getLogger(self.__class__.__name__)
self.seed(seed)
if timestep_sec and not fixed_timestep_sec:
warnings.warn(
"timestep_sec has been deprecated in favor of fixed_timestep_sec. Please update your code.",
category=DeprecationWarning,
)
if not fixed_timestep_sec:
fixed_timestep_sec = timestep_sec or 0.1
self._agent_specs = agent_specs
self._dones_registered = 0
self._scenarios_iterator = Scenario.scenario_variations(
scenarios,
list(agent_specs.keys()),
shuffle_scenarios,
)
agent_interfaces = {
agent_id: agent.interface for agent_id, agent in agent_specs.items()
}
envision_client = None
if not headless or envision_record_data_replay_path:
envision_client = Envision(
endpoint=envision_endpoint,
sim_name=sim_name,
output_dir=envision_record_data_replay_path,
headless=headless,
)
visdom_client = None
if visdom:
visdom_client = VisdomClient()
all_sumo = Scenario.supports_traffic_simulation(scenarios)
traffic_sim = None
if not all_sumo:
# We currently only support the Native SUMO Traffic Provider and Social Agents for SUMO maps
if zoo_addrs:
warnings.warn("`zoo_addrs` can only be used with SUMO scenarios")
zoo_addrs = None
warnings.warn(
"We currently only support the Native SUMO Traffic Provider and Social Agents for SUMO maps."
"All scenarios passed need to be of SUMO, to enable SUMO Traffic Simulation and Social Agents."
)
pass
else:
from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
traffic_sim = SumoTrafficSimulation(
headless=sumo_headless,
time_resolution=fixed_timestep_sec,
num_external_sumo_clients=num_external_sumo_clients,
sumo_port=sumo_port,
auto_start=sumo_auto_start,
endless_traffic=endless_traffic,
)
zoo_addrs = zoo_addrs
self._smarts = SMARTS(
agent_interfaces=agent_interfaces,
traffic_sim=traffic_sim,
envision=envision_client,
visdom=visdom_client,
fixed_timestep_sec=fixed_timestep_sec,
zoo_addrs=zoo_addrs,
)
def __init__(
self,
scenarios: Sequence[str],
agent_specs: Dict[str, AgentSpec],
sim_name=None,
shuffle_scenarios=True,
headless=False,
visdom=False,
fixed_timestep_sec=None,
seed=42,
num_external_sumo_clients=0,
sumo_headless=True,
sumo_port=None,
sumo_auto_start=True,
endless_traffic=True,
envision_endpoint=None,
envision_record_data_replay_path=None,
zoo_addrs=None,
timestep_sec=None, # for backwards compatibility (deprecated)
):
self._log = logging.getLogger(self.__class__.__name__)
self.seed(seed)
if timestep_sec and not fixed_timestep_sec:
warnings.warn(
"timestep_sec has been deprecated in favor of fixed_timestep_sec. Please update your code.",
category=DeprecationWarning,
)
if not fixed_timestep_sec:
fixed_timestep_sec = timestep_sec or 0.1
self._agent_specs = agent_specs
self._dones_registered = 0
self._scenarios_iterator = Scenario.scenario_variations(
scenarios,
list(agent_specs.keys()),
shuffle_scenarios,
)
agent_interfaces = {
agent_id: agent.interface
for agent_id, agent in agent_specs.items()
}
envision_client = None
if not headless or envision_record_data_replay_path:
envision_client = Envision(
endpoint=envision_endpoint,
sim_name=sim_name,
output_dir=envision_record_data_replay_path,
headless=headless,
)
visdom_client = None
if visdom:
visdom_client = VisdomClient()
all_sumo = Scenario.supports_traffic_simulation(scenarios)
traffic_sim = None
if not all_sumo:
# We currently only support the Native SUMO Traffic Provider and Social Agents for SUMO maps
if zoo_addrs:
warnings.warn(
"`zoo_addrs` can only be used with SUMO scenarios")
zoo_addrs = None
warnings.warn(
"We currently only support the Native SUMO Traffic Provider and Social Agents for SUMO maps."
"All scenarios passed need to be of SUMO, to enable SUMO Traffic Simulation and Social Agents."
)
pass
else:
from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
traffic_sim = SumoTrafficSimulation(
headless=sumo_headless,
time_resolution=fixed_timestep_sec,
num_external_sumo_clients=num_external_sumo_clients,
sumo_port=sumo_port,
auto_start=sumo_auto_start,
endless_traffic=endless_traffic,
)
zoo_addrs = zoo_addrs
self._smarts = SMARTS(
agent_interfaces=agent_interfaces,
traffic_sim=traffic_sim,
envision=envision_client,
visdom=visdom_client,
fixed_timestep_sec=fixed_timestep_sec,
zoo_addrs=zoo_addrs,
)
def __init__(self, all_args):
self.all_args = all_args
self._dones_registered = 0
self.neighbor_num = all_args.neighbor_num
self.rews_mode = all_args.rews_mode
self.n_agents = all_args.num_agents
self.use_proximity = all_args.use_proximity
self.use_discrete = all_args.use_discrete # default True
self.use_centralized_V = all_args.use_centralized_V
self.scenarios = [(all_args.scenario_path + all_args.scenario_name)]
self.agent_ids = ["Agent %i" % i for i in range(self.n_agents)]
self.obs_space_dict = self.get_obs_space_dict()
self.obs_dim = self.get_obs_dim()
# ! TODO:
self.share_obs_dim = self.get_state_dim(
) if self.use_centralized_V else self.get_obs_dim()
self.observation_space = [
gym.spaces.Box(low=-1e10, high=1e10, shape=(self.obs_dim, ))
] * self.n_agents
self.share_observation_space = [
gym.spaces.Box(low=-1e10, high=1e10, shape=(self.share_obs_dim, ))
] * self.n_agents
if self.use_discrete:
self.act_dim = 4
self.action_space = [gym.spaces.Discrete(self.act_dim)
] * self.n_agents
self.agent_type = AgentType.Vulner_with_proximity if self.use_proximity else AgentType.Vulner
else:
# TODO Add continous action space
self.agent_type = AgentType.VulnerCon_with_proximity if self.use_proximity else AgentType.VulnerCon
raise NotImplementedError
self._agent_specs = {
agent_id: AgentSpec(
interface=AgentInterface.from_type(
self.agent_type, max_episode_steps=all_args.horizon),
observation_adapter=self.get_obs_adapter(),
reward_adapter=self.get_rew_adapter(self.rews_mode,
self.neighbor_num),
action_adapter=self.get_act_adapter(),
)
for agent_id in self.agent_ids
}
self._scenarios_iterator = Scenario.scenario_variations(
self.scenarios,
list(self._agent_specs.keys()),
all_args.shuffle_scenarios,
)
self.agent_interfaces = {
agent_id: agent.interface
for agent_id, agent in self._agent_specs.items()
}
self.envision_client = None
if not all_args.headless:
self.envision_client = Envision(
endpoint=all_args.envision_endpoint,
output_dir=all_args.envision_record_data_replay_path)
self.visdom_client = None
if all_args.visdom:
self.visdom_client = VisdomClient()
self._smarts = SMARTS(
agent_interfaces=self.agent_interfaces,
traffic_sim=SumoTrafficSimulation(
headless=all_args.sumo_headless,
time_resolution=all_args.timestep_sec,
num_external_sumo_clients=all_args.num_external_sumo_clients,
sumo_port=all_args.sumo_port,
auto_start=all_args.sumo_auto_start,
endless_traffic=all_args.endless_traffic,
),
envision=self.envision_client,
visdom=self.visdom_client,
timestep_sec=all_args.timestep_sec,
zoo_workers=all_args.zoo_workers,
auth_key=all_args.auth_key,
)