Add conditions to sstudio

CHANGELOG.md

@@ -12,6 +12,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Added
 - `visdom` can now be configured through the engine.ini configuration file `visdom:enabled`, `visdom:hostname`, and `visdom:port` (environment variables `SMARTS_VISDOM_ENABLED`, `SMARTS_VISDOM_HOSTNAME`, `SMARTS_VISDOM_PORT`.)
 - Added an install extra that installs the requirements for all optional modules. Use `pip install .[all]`.
+- Added `Condition`, `ConditionRequires`, `ConditionState` and various condition implementations to enable logical operations in scenarios.
 ### Changed
 - Changed waypoints in sumo maps to use more incoming lanes into junctions.
 - Increased the cutoff radius for filtering out waypoints that are too far away in junctions in sumo maps.
@@ -20,6 +21,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - `SumoTrafficSimulator` now uses the last vehicle subscription update to back `route_for_vehicle()`. This means that the routes of vehicles can still be determined even if `SumoTrafficSimulation` disconnects.
 - Reward function in platoon RL example retrieves actor-of-interest from marked neighborhood vehicles.
 - `dist_to_destination` metric cost function computes the route distance and end point for vehicle of interest contained in social agents, SMARTS traffic provider, SUMO traffic provider, and traffic history provider.
+- `sstudio` generated scenario vehicle traffic IDs are now shortened.
 ### Deprecated
 - `visdom` is set to be removed from the SMARTS object parameters.
 ### Fixed
@@ -83,6 +85,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Driving SMARTS 2023.3 benchmark and the metrics module now uses `actor_of_interest_re_filter` from scenario metadata to identify the lead vehicle.
 - Included `RelativeTargetPose` action space to the set of allowed action spaces in `platoon-v0` env.
 - `Collision.collidee_id` now gives the vehicle id rather than the name of the owner of the vehicle (usually the agent id.) `Collision.collidee_owner_id` now provides the id of the controlling `agent` (or other controlling entity in the future.) This is because 1) `collidee_id` should refer to the body and 2) in most cases the owner name would be `None`.
+- Entry tactics now use conditions to determine when they should capture an actor.
 ### Deprecated
 ### Fixed
 - Fixed issues related to waypoints in junctions on Argoverse maps. Waypoints will now be generated for all paths leading through the lane(s) the vehicle is on.

bin/gen_header.sh

@@ -4,7 +4,7 @@ files=""
 
 if [[ $# -eq 0 ]]; then
     # No specific file specified, collate all files excluding auto generated files of *_pb2.py and *_pb2_grpc.py
-    python_files="$(find ./baselines/marl_benchmark ./cli ./envision ./smarts -name '*.py' ! -name '*_pb2.py' ! -name '*_pb2_grpc.py')"
+    python_files="$(find ./baselines/marl_benchmark ./cli ./envision ./smarts -name '*.py' ! -name '*_pb2.py' ! -name '*_pb2_grpc.py' ! -wholename '**/waymo/**/__init__.py')"
     js_files="$(find ./envision/web/src -name '*.js')"
     files="$python_files $js_files"
 else

scenarios/sumo/intersections/1_to_1lane_left_turn_c_agents_1/scenario.py

@@ -93,8 +93,8 @@
 ego_missions = [
     Mission(
         route=route,
-        start_time=12,  # Delayed start, to ensure road has prior traffic.
         entry_tactic=TrapEntryTactic(
+            start_time=12,  # Delayed start, to ensure road has prior traffic.
             wait_to_hijack_limit_s=1,
             zone=MapZone(
                 start=(

scenarios/sumo/intersections/1_to_2lane_left_turn_c_agents_1/scenario.py

@@ -23,7 +23,15 @@
 from pathlib import Path
 
 from smarts.sstudio import gen_scenario
-from smarts.sstudio.types import Flow, Mission, Route, Scenario, Traffic, TrafficActor
+from smarts.sstudio.types import (
+    Flow,
+    Mission,
+    Route,
+    Scenario,
+    Traffic,
+    TrafficActor,
+    TrapEntryTactic,
+)
 
 normal = TrafficActor(
     name="car",
@@ -86,7 +94,9 @@
 ego_missions = [
     Mission(
         route=route,
-        start_time=4,  # Delayed start, to ensure road has prior traffic.
+        entry_tactic=TrapEntryTactic(
+            start_time=4, wait_to_hijack_limit_s=0
+        ),  # Delayed start, to ensure road has prior traffic.
     )
 ]
 

scenarios/sumo/intersections/1_to_2lane_left_turn_t_agents_1/scenario.py

@@ -23,7 +23,15 @@
 from pathlib import Path
 
 from smarts.sstudio import gen_scenario
-from smarts.sstudio.types import Flow, Mission, Route, Scenario, Traffic, TrafficActor
+from smarts.sstudio.types import (
+    Flow,
+    Mission,
+    Route,
+    Scenario,
+    Traffic,
+    TrafficActor,
+    TrapEntryTactic,
+)
 
 normal = TrafficActor(
     name="car",
@@ -80,8 +88,11 @@
 ego_missions = [
     Mission(
         route=route,
-        start_time=4,  # Delayed start, to ensure road has prior traffic.
-    )
+        entry_tactic=TrapEntryTactic(
+            start_time=4,
+            wait_to_hijack_limit_s=1,
+        ),
+    ),
 ]
 
 gen_scenario(

scenarios/sumo/loop/scenario.py

@@ -1,4 +1,5 @@
 import random
+import sys
 from pathlib import Path
 
 from smarts.core import seed
@@ -54,7 +55,11 @@
                 [
                     t.Mission(
                         route=t.RandomRoute(),
-                        entry_tactic=t.IdEntryTactic("other_interest", patience=10),
+                        entry_tactic=t.IdEntryTactic(
+                            start_time=0.1,
+                            actor_id="other_interest",
+                            condition=t.TimeWindowCondition(0.1, 20.0),
+                        ),
                     )
                 ],
             )

scenarios/sumo/merge/3lane_agents_1/scenario.py

@@ -23,7 +23,15 @@
 from pathlib import Path
 
 from smarts.sstudio import gen_scenario
-from smarts.sstudio.types import Flow, Mission, Route, Scenario, Traffic, TrafficActor
+from smarts.sstudio.types import (
+    Flow,
+    Mission,
+    Route,
+    Scenario,
+    Traffic,
+    TrafficActor,
+    TrapEntryTactic,
+)
 
 normal = TrafficActor(
     name="car",
@@ -71,12 +79,12 @@
         ]
     )
 
-route = Route(begin=("gneE6", 0, 10), end=("gneE4", 2, "max"))
+
 ego_missions = [
     Mission(
-        route=route,
-        start_time=15,  # Delayed start, to ensure road has prior traffic.
-    )
+        Route(begin=("gneE6", 0, 10), end=("gneE4", 2, "max")),
+        entry_tactic=TrapEntryTactic(start_time=15, wait_to_hijack_limit_s=0),
+    ),
 ]
 
 gen_scenario(

scenarios/sumo/merge/3lane_agents_2/scenario.py

@@ -23,7 +23,15 @@
 from pathlib import Path
 
 from smarts.sstudio import gen_scenario
-from smarts.sstudio.types import Flow, Mission, Route, Scenario, Traffic, TrafficActor
+from smarts.sstudio.types import (
+    Flow,
+    Mission,
+    Route,
+    Scenario,
+    Traffic,
+    TrafficActor,
+    TrapEntryTactic,
+)
 
 normal = TrafficActor(
     name="car",
@@ -73,8 +81,14 @@
 
 
 ego_missions = [
-    Mission(Route(begin=("gneE6", 0, 10), end=("gneE4", 2, "max")), start_time=15),
-    Mission(Route(begin=("gneE3", 0, 10), end=("gneE4", 0, "max")), start_time=15),
+    Mission(
+        Route(begin=("gneE6", 0, 10), end=("gneE4", 2, "max")),
+        entry_tactic=TrapEntryTactic(start_time=15, wait_to_hijack_limit_s=0),
+    ),
+    Mission(
+        Route(begin=("gneE3", 0, 10), end=("gneE4", 0, "max")),
+        entry_tactic=TrapEntryTactic(start_time=15, wait_to_hijack_limit_s=0),
+    ),
 ]
 
 gen_scenario(

scenarios/sumo/platoon/merge_exit_sumo_t_agents_1/scenario.py

@@ -99,8 +99,9 @@
 ego_missions = [
     EndlessMission(
         begin=("E0", 2, 5),
-        start_time=31,
-        entry_tactic=TrapEntryTactic(wait_to_hijack_limit_s=0, default_entry_speed=0),
+        entry_tactic=TrapEntryTactic(
+            start_time=31, wait_to_hijack_limit_s=0, default_entry_speed=0
+        ),
     )  # Delayed start, to ensure road has prior traffic.
 ]
 

scenarios/sumo/straight/3lane_cruise_agents_1/scenario.py

@@ -23,7 +23,15 @@
 from pathlib import Path
 
 from smarts.sstudio import gen_scenario
-from smarts.sstudio.types import Flow, Mission, Route, Scenario, Traffic, TrafficActor
+from smarts.sstudio.types import (
+    Flow,
+    Mission,
+    Route,
+    Scenario,
+    Traffic,
+    TrafficActor,
+    TrapEntryTactic,
+)
 
 normal = TrafficActor(
     name="car",
@@ -76,7 +84,9 @@
 ego_missions = [
     Mission(
         route=route,
-        start_time=17,  # Delayed start, to ensure road has prior traffic.
+        entry_tactic=TrapEntryTactic(
+            start_time=17, wait_to_hijack_limit_s=0
+        ),  # Delayed start, to ensure road has prior traffic.
     )
 ]
 

scenarios/sumo/straight/3lane_cruise_agents_3/scenario.py

@@ -23,7 +23,15 @@
 from pathlib import Path
 
 from smarts.sstudio import gen_scenario
-from smarts.sstudio.types import Flow, Mission, Route, Scenario, Traffic, TrafficActor
+from smarts.sstudio.types import (
+    Flow,
+    Mission,
+    Route,
+    Scenario,
+    Traffic,
+    TrafficActor,
+    TrapEntryTactic,
+)
 
 normal = TrafficActor(
     name="car",
@@ -72,9 +80,18 @@
     )
 
 ego_missions = [
-    Mission(Route(begin=("gneE3", 0, 10), end=("gneE3", 0, "max")), start_time=19),
-    Mission(Route(begin=("gneE3", 1, 10), end=("gneE3", 1, "max")), start_time=21),
-    Mission(Route(begin=("gneE3", 2, 10), end=("gneE3", 2, "max")), start_time=17),
+    Mission(
+        Route(begin=("gneE3", 0, 10), end=("gneE3", 0, "max")),
+        entry_tactic=TrapEntryTactic(start_time=19, wait_to_hijack_limit_s=0),
+    ),
+    Mission(
+        Route(begin=("gneE3", 1, 10), end=("gneE3", 1, "max")),
+        entry_tactic=TrapEntryTactic(start_time=21, wait_to_hijack_limit_s=0),
+    ),
+    Mission(
+        Route(begin=("gneE3", 2, 10), end=("gneE3", 2, "max")),
+        entry_tactic=TrapEntryTactic(start_time=17, wait_to_hijack_limit_s=0),
+    ),
 ]
 
 gen_scenario(

scenarios/sumo/straight/3lane_cut_in_agents_1/scenario.py

@@ -34,6 +34,7 @@
     SmartsLaneChangingModel,
     Traffic,
     TrafficActor,
+    TrapEntryTactic,
 )
 
 normal = TrafficActor(
@@ -94,7 +95,9 @@
 ego_missions = [
     Mission(
         route=route,
-        start_time=20,  # Delayed start, to ensure road has prior traffic.
+        entry_tactic=TrapEntryTactic(
+            start_time=20, wait_to_hijack_limit_s=0.1
+        ),  # Delayed start, to ensure road has prior traffic.
     )
 ]
 

scenarios/sumo/straight/3lane_overtake_agents_1/scenario.py

@@ -31,6 +31,7 @@
     Scenario,
     Traffic,
     TrafficActor,
+    TrapEntryTactic,
 )
 
 normal = TrafficActor(
@@ -83,7 +84,9 @@
 ego_missions = [
     Mission(
         route=route,
-        start_time=17,  # Delayed start, to ensure road has prior traffic.
+        entry_tactic=TrapEntryTactic(
+            start_time=17, wait_to_hijack_limit_s=0.1
+        ),  # Delayed start, to ensure road has prior traffic.
     )
 ]
 

scenarios/sumo/zoo_intersection/scenario.py

@@ -13,6 +13,7 @@
     SocialAgentActor,
     Traffic,
     TrafficActor,
+    TrapEntryTactic,
 )
 
 # Traffic Vehicles
@@ -96,7 +97,12 @@
             f"s-agent-{social_agent1.name}": (
                 [social_agent1],
                 [
-                    EndlessMission(begin=("edge-south-SN", 0, 10), start_time=0.7),
+                    EndlessMission(
+                        begin=("edge-south-SN", 0, 10),
+                        entry_tactic=TrapEntryTactic(
+                            start_time=0.7, wait_to_hijack_limit_s=0.1
+                        ),
+                    ),
                 ],
             ),
         },