magail4autodrive: first commit

Env/run_multiagent_env.py

@@ -0,0 +1,41 @@
+from scenario_env import MultiAgentScenarioEnv
+from Env.simple_idm_policy import ConstantVelocityPolicy
+from metadrive.engine.asset_loader import AssetLoader
+
+WAYMO_DATA_DIR = r"/home/zhy/桌面/MAGAIL_TR/Env"
+
+def main():
+    env = MultiAgentScenarioEnv(
+        config={
+            # "data_directory": AssetLoader.file_path(AssetLoader.asset_path, "waymo", unix_style=False),
+            "data_directory": AssetLoader.file_path(WAYMO_DATA_DIR, "exp_converted", unix_style=False),
+            "is_multi_agent": True,
+            "num_controlled_agents": 3,
+            "horizon": 300,
+            "use_render": True,
+            "sequential_seed": True,
+            "reactive_traffic": True,
+            "manual_control": True,
+        },
+        agent2policy=ConstantVelocityPolicy(target_speed=50)
+    )
+
+    obs = env.reset(0
+                    )
+    for step in range(10000):
+        actions = {
+            aid: env.controlled_agents[aid].policy.act()
+            for aid in env.controlled_agents
+        }
+
+        obs, rewards, dones, infos = env.step(actions)
+        env.render(mode="topdown")
+
+        if dones["__all__"]:
+            break
+
+    env.close()
+
+
+if __name__ == "__main__":
+    main()