reactive traffic example

scenarionet/tests/script/reactive_traffic.py

@@ -0,0 +1,60 @@
+from metadrive.envs.scenario_env import ScenarioEnv
+
+if __name__ == "__main__":
+    env = ScenarioEnv(
+        {
+            "use_render": True,
+            # "agent_policy": ReplayEgoCarPolicy,
+            "manual_control": False,
+            "show_interface": False,
+            "show_logo": False,
+            "show_fps": False,
+            "show_mouse": False,
+            # "debug": True,
+            # "debug_static_world": True,
+            # "no_traffic": True,
+            # "no_light": True,
+            # "debug":True,
+            # "no_traffic":True,
+            "start_scenario_index": 1,
+            # "start_scenario_index": 1000,
+            "num_scenarios": 1,
+            # "force_reuse_object_name": True,
+            # "data_directory": "/home/shady/Downloads/test_processed",
+            "horizon": 1000,
+            "render_pipeline": True,
+            # "reactive_traffic": True,
+            "no_static_vehicles": False,
+            "force_render_fps": 10,
+            "show_policy_mark": True,
+            # "show_coordinates": True,
+            "vehicle_config": dict(
+                show_navi_mark=False,
+                no_wheel_friction=False,
+                lidar=dict(num_lasers=120, distance=50, num_others=4),
+                lane_line_detector=dict(num_lasers=12, distance=50),
+                side_detector=dict(num_lasers=160, distance=50)
+            ),
+        }
+    )
+    success = []
+    while True:
+        env.reset(seed=1)
+        env.stop()
+        env.main_camera.chase_camera_height = 50
+        for i in range(250):
+            if i < 50:
+                action = [0, -1]
+            elif i < 70:
+                action = [0.55, 0.5]
+            elif i < 80:
+                action = [-0.5, 0.5]
+            # elif i < 100:
+            #     action = [0, -0.4]
+            elif i < 110:
+                action = [0, -0.1]
+            elif i < 130:
+                action = [0.3, 0.5]
+            else:
+                action = [0, -0.5]
+            o, r, tm, tc, info = env.step(action)