def bubble(request):
"""
|(93) |(95) (100) (105)| (107)|
"""
return t.Bubble(
zone=t.PositionalZone(pos=(100, 0), size=(10, 10)),
margin=2,
limit=getattr(request, "param", t.BubbleLimits(10, 11)),
actor=t.SocialAgentActor(
name="zoo-car", agent_locator="zoo.policies:keep-lane-agent-v0"),
)
def bubbles():
actor = t.SocialAgentActor(
name="keep-lane-agent",
agent_locator="zoo.policies:keep-lane-agent-v0",
)
return [
t.Bubble(
zone=t.PositionalZone(pos=(150, -60), size=(30, 30)),
margin=10,
actor=actor,
),
t.Bubble(
zone=t.PositionalZone(pos=(60, -60), size=(30, 30)),
margin=10,
actor=actor,
),
]
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]
)
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={
"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"),
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},
)
gen_scenario(
t.Scenario(
traffic={"basic": traffic},
social_agent_missions={
"all": ([laner_actor], [t.Mission(route=t.RandomRoute())])
},
bubbles=[
),
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(
zone=t.PositionalZone(pos=(100, 100), size=(20, 20)),
margin=2,
actor=t.SocialAgentActor(
name="motion-planner-agent",
agent_locator=f"{agent_prefabs}:motion-planner-agent-v0",
),
),
]
ego_missions = [t.EndlessMission(begin=("edge-south-SN", 1, 20), )]
social_agent_missions = {
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")),
task=t.CutIn(),
)
],
),
}
ego_missions = [
t.Mission(
t.Route(begin=("west", 1, 5), end=("east", 0, "max")),
),
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(
zone=t.PositionalZone(pos=(100, 100), size=(20, 20)),
margin=2,
actor=t.SocialAgentActor(
name="motion-planner-agent",
agent_locator=f"{agent_prefabs}:motion-planner-agent-v0",
),
),
]
ego_missions = [t.EndlessMission(begin=("edge-south-SN", 1, 20))]
social_agent_missions = {
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,
)
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"
motion_planner_actor = t.SocialAgentActor(
name="motion-planner-agent",
agent_locator=f"{agent_prefabs}:motion-planner-agent-v0",
)
zoo_agent_actor = t.SocialAgentActor(
name="zoo-agent",
agent_locator=f"{agent_prefabs}:zoo-agent-v0",
)
# Replace the above lines with the code below if you want to replay the agent actions and inputs
# zoo_agent_actor = t.SocialAgentActor(
# name="zoo-agent",
# agent_locator="zoo.policies:replay-agent-v0",
# policy_kwargs={
# "save_directory": "./replay",
# "id": "agent_za",
# "wrapped_agent_locator": f"{agent_prefabs}:zoo-agent-v0",
# },
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),
),
],
),
}
ego_missions = [
t.Mission(
