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Add vehicle configuration (#2130)
* Update truck urdf. * Update truck * Move assets from ``smarts.core.models` to `smarts.assets` * Renamed vehicle.urdf to sedan.urdf * Fix sedan vehicle urdf reference. * Update substitution configuration loading. * Allow vehicle composition. * Add missing scenario_definitions_filepath property * Add missing glb files. * Fix trajectory controller test. * Fix collision test. * Fix types test. * Include smarts/assets in manifest. * Add default truck definition. * Update test with truck. * Remove unused files. * Change [resources] to [assets]. * Retype moving_truck definitions to truck. * Rename vehicle_filepath -> vehicle_dynamics_filepath * Move MACOS gui BulletClient. * Remove color dependency on VEHICLE_CONFIGS. * Add visual_model_filepath argument to vehicle creation. * Fix missing argument. * Fix plan frame generation. * Update changelog. * Add type checking improvements. * Clean up vehicle methods. * Use PyYAML cast. * Update configuration with `SMARTS_ASSETS_DEFAULT_VEHICLE_DEFINITIONS_LIST` * Attempt typing test fix. * Attempt to fix typing test. * Add missing docstring. * Update AgentInterface with vehicle class. * Fix pytype types test. * Move all vehicle related assets to `smarts.assets.vehicles`. * Update truck urdf. * Fix base-tests. * Make format. * Fix types test. * Add moving truck to options. * Add trucks to tests. * Add pickup truck urdf. * Fix test that broke. * Update to final vehicle set. * Update documention. * Update engine configuration documentation. * Add information on creating a new vehicle configuration. * Lessen redirects in test-docs links stage. * Remove accidental method regression.
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‎CHANGELOG.md

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@@ -12,6 +12,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
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### Added
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- Added a utility method `SMARTS.prepare_observe_from()` which allows safely adding sensors to vehicles.
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- The following methods now exist explicitly `Vehicle.{add_sensor|detach_sensor|subscribed_to|sensor_property|}`.
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- Resources loaded with `load_yaml_config_with_substitution()` now substitute in SMARTS configuration with single squiggle bracket `${}` syntax. This is currently restricted to environment variable names prefixed with `"SMARTS_"`. This extends to benchmark configuration and vehicle configuration.
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- Default vehicle definitions can be now modified using `assets:default_vehicle_definitions_list`/`SMARTS_ASSSETS_DEFAULT_VEHICLE_DEFINITIONS_LIST` or by providing a `vehicle_definitions_list.yaml` in the scenario. These vehicle types are related to the `AgentInterface.vehicle_type` attribute.
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### Changed
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- `VehicleIndex.build_agent_vehicle()` no longer has `filename` and `surface_patches` parameters.
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- The following modules have been renamed: `envision.types` -> `envision.etypes`, `smarts.core.utils.logging` -> `smarts.core.utils.core_logging`, `smarts.core.utils.math` -> `smarts.core.utils.core_math`, `smarts.sstudio.types` -> `smarts.sstudio.sstypes`. For compatibility reasons they can still be imported by their original module name.
@@ -20,10 +22,21 @@ Copy and pasting the git commit messages is __NOT__ enough.
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- The `examples/e12_rllib` training examples `{pg_example|pg_pbt_example}.py` have been changed to `{ppo_example|ppo_pbt_example}.py`. `Policy Gradients (PG)` has been dropped in favor of the more well documented `Proximal Policy Optimization (PPO)`.
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- Vehicles can now have sensors added to, overwritten, or replaced outright.
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- Logging is now improved to give information about sensor changes in the sensor manager.
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- - Renamed `vehicle.urdf` to `sedan.urdf`.
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- Environment prefix is now configurable for custom `smarts.core.config()` calls.
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- `Vehicle.build_agent_vehicle()` argument `vehicle_filepath` now renamed to `vehicle_dynamics_filepath`.
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- Renamed `MACOS` `pybullet` gui utility from `smarts.core.utils.bullet.BulletClient` to `smarts.core.utils.pybullet.BulletClientMACOS`.
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- `Vehicle.build_agent_vehicle()` and `Vehicle.build_social_vehicle()` moved to `VehicleIndex`.
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- `smarts.core.configuration.Configuration.get_settings()` now uses the `PyYAML` default instead of forcefully casting to `str`.
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- Added `AgentInterface.vehicle_class` which allows selection of a dynamics vehicle from the vehicle definitions list file.
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### Deprecated
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- Module `smarts.core.models` is now deprecated in favour of `smarts.assets`.
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- Deprecated a few things related to vehicles in the `Scenario` class, including the `vehicle_filepath`, `tire_parameters_filepath`, and `controller_parameters_filepath`. The functionality is now handled through the vehicle definitions.
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- `AgentInterface.vehicle_type` is now deprecated with potential to be restored.
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### Fixed
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- `SumoTrafficSimulation` gives clearer reasons as to why it failed to connect to the TraCI server.
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- Suppressed an issue where `pybullet_utils.pybullet.BulletClient` would cause an error because it was catching a non `BaseException` type.
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- Fixed a bug where `smarts.core.vehicle_index.VehicleIndex.attach_sensors_to_vehicle()` would pass a method instead of a `PlanFrame` to the generated vehicle `SensorState`.
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- Fixed an issue where `AgentInterface.vehicle_type` would not affect agent vehicles when attempting to take over an existing vehicle.
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- Fixed a case where newly created agent vehicles would have a constant `"sedan"` size instead of the size of `AgentInterface.vehicle_type`.
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- Fixed a case where if vehicles are replaced they would not respect controller and vehicle parameters.

‎MANIFEST.in

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include smarts/core/glsl/*.vert smarts/core/glsl/*.frag
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include smarts/core/models/*.glb smarts/core/models/*.urdf
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include smarts/core/models/controller_parameters.yaml
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include envision/web/dist/*
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include smarts/*.ini
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recursive-include smarts/assets *.glb *.urdf *.yaml *.yml
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recursive-include smarts/benchmark *.yaml *.yml
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recursive-include smarts/ros/src *.launch *.msg *.srv package.xml CMakeLists.txt *.py
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recursive-include smarts/scenarios *.xml *.py

‎docs/benchmarks/benchmark.rst

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params: # Additional values to pass into the entrypoint as named keyword arguments.
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benchmark_config: ${{smarts.benchmark.driving_smarts.v2022}}/config.yaml
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.. note::
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Resolving module directories.
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The benchmark configuration directory can be dynamically found through
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python using an evaluation syntax ``${{}}``. This is experimental and
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open to change but the following resolves the python module location in
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loaded configuration files:
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.. code:: yaml
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somewhere_path: ${{module.to.resolve}}/file.txt # resolves to <path>/module/to/resolve/file.txt
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This avoids loading the module into python but resolves to the first
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path that matches the module.
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See :ref:`engine_configuration` for more details.

‎docs/conf.py

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]
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extlinks = {
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"assets": (
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"https://github.com/huawei-noah/SMARTS/tree/master/smarts/assets/%s",
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"%s",
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),
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"examples": (
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"https://github.com/huawei-noah/SMARTS/blob/master/examples/%s",
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"https://github.com/huawei-noah/SMARTS/tree/master/examples/%s",
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"%s",
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),
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"scenarios": (
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"https://github.com/huawei-noah/SMARTS/blob/master/scenarios/%s",
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"https://github.com/huawei-noah/SMARTS/tree/master/scenarios/%s",
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"%s",
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),
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}

‎docs/index.rst

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@@ -46,7 +46,8 @@ If you use SMARTS in your research, please cite the `paper <https://arxiv.org/ab
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sim/simulator.rst
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sim/scenario_studio.rst
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sim/bubbles.rst
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sim/configuration.rst
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sim/engine_configuration.rst
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sim/vehicle.rst
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.. toctree::
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:hidden:

‎docs/sim/configuration.rst

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This file was deleted.

‎docs/sim/engine_configuration.rst

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.. _engine_configuration:
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Configuration
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=============
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SMARTS
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------
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You can change the behavior of the underlying SMARTS engine.
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Configuration of the engine can come from several sources. These locations take precedence as noted:
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1. Individual ``SMARTS_`` prefixed environment variables (e.g. ``SMARTS_SENSOR_WORKER_COUNT``)
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2. Local directory engine configuration (``./smarts_engine.ini``)
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3. Local user engine configuration, ``~/.smarts/engine.ini``, if local directory configuration is not found.
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4. Global engine configuration, ``/etc/smarts/engine.ini``, if local configuration is not found.
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5. Package default configuration, ``$PYTHON_PATH/smarts/engine.ini``, if global configuration is not found.
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Note that configuration files resolve all settings at the first found configuration file (they do not layer.)
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Options
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-------
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All settings demonstrated as environment variables are formatted to ``UPPERCASE`` and prefixed with ``SMARTS_`` (e.g. ``[core] logging`` can be configured with ``SMARTS_CORE_LOGGING``)
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These settings are as follows:
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.. todo::
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List engine settings
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YAML resources
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--------------
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YAML files resolve as `PyYAML.safe_load() <https://pyyaml.org/wiki/PyYAMLDocumentation>` allows with a few extensions.
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Dynamic module resolution
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^^^^^^^^^^^^^^^^^^^^^^^^^
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The benchmark configuration directory can be dynamically found through
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python using an evaluation syntax ``${{}}``. This is experimental and
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open to change but the following resolves the python module location in
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loaded configuration files:
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.. code:: yaml
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somewhere_path: ${{module.to.resolve}}/file.txt # resolves to <path>/module/to/resolve/file.txt
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This avoids loading the module into python but resolves to the first
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path that matches the module.
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Environment variable resolution
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Resolving SMARTS engine configuration.
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The engine configuration resolves by referencing the setting through
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the evaluation syntax ``${}``. This is restricted to ``"SMARTS_"``
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prefixed environment variables.
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.. code:: yaml
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is_debug: ${SMARTS_CORE_DEBUG} # literal environment variable or engine setting `[core] debug`
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‎docs/sim/vehicle.rst

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.. _vehicle_defaults:
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Vehicle defaults
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================
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``SMARTS`` provides vehicle configuration for agent control.
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Default agent vehicle details
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-----------------------------
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.. list-table::
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:header-rows: 1
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* - **Vehicle**
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- Sedan (Default)
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- Bus (class 4)
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- Pickup truck (class 2a)
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- Empty moving truck (class 5)
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- Loaded moving truck (class 5)
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* - **Resource**
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- "sedan" | "generic_sedan"
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- "bus" | "generic_bus"
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- "pickup" | "generic_pickup_truck"
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- "moving_truck_empty"
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- "moving_truck_loaded"
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* - **Dimensions** (LWH)
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- 3.68 1.47 1.30
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- 7.00 2.20 2.40
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- 5.00 1.91 1.89
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- 7.10 2.40 2.40
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- 7.10 2.40 2.40
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* - **Mass** (kg)
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- 2356.00
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- 6000.00
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- 2600.00
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- 6500.00
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- 8700.00
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Note that the dimensions do not take into account elevation due to the wheels.
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.. note::
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See also :assets:`vehicles/vehicle_definitions_list.yaml` and `truck classifications <https://en.wikipedia.org/wiki/Truck_classification>`.
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Specifying vehicle definitions
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------------------------------
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Vehicles can be configured in a few different ways.
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Configuration file
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^^^^^^^^^^^^^^^^^^
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.. code-block:: ini
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[assets]
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default_vehicle_definitions_list = path/to/file.yaml
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.. note::
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See also :ref:`engine_configuration`.
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Environment variable
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^^^^^^^^^^^^^^^^^^^^
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Setting ``SMARTS_ASSETS_DEFAULT_VEHICLE_DEFINITIONS_LIST`` will cause ``SMARTS`` to use the given vehicle definitions file as the default vehicle definitions.
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.. note::
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See also :ref:`engine_configuration`.
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Scenario
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^^^^^^^^
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Including a ``vehicle_definitions_list.yaml`` in your scenario will cause ``SMARTS`` to use those vehicle definitions for the duration of the scenario.
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.. code-block:: bash
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$ tree scenarios/sumo/loop
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scenarios/sumo/loop
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├── build
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│ └── ...
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├── map.net.xml
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├── rerouter.add.xml
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├── scenario.py
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└── vehicle_definitions_list.yaml # <---
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Usage
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-----
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Agent interface
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^^^^^^^^^^^^^^^
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.. code-block:: python
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from smarts.core.agent_interface import AgentInterface
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from smarts.core.controllers import ActionSpaceType
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agent_interface = AgentInterface(
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max_episode_steps=1000,
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waypoint_paths=True,
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vehicle_class="pickup",
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action=ActionSpaceType.Continuous,
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)
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.. note::
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See also :ref:`agent`.
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Syntax
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------
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A vehicle can be composed in the following way:
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.. code-block:: yaml
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# vehicle_definitions_list.yaml
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f150: /usr/home/dev/vehicles/f150.yaml
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.. code-block:: yaml
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# /usr/home/dev/vehicles/f150.yaml
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model: Ford F-150
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type: truck
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controller_params: ${SMARTS_ASSETS_PATH}/vehicles/controller_params/generic_pickup_truck.yaml
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chassis_params: ${SMARTS_ASSETS_PATH}/vehicles/chassis_params/generic_pickup_truck.yaml
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dynamics_model: /usr/home/dev/vehicles/f150_loaded.urdf
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visual_model: /usr/home/dev/vehicles/f150.glb
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tire_params: null # ${SMARTS_ASSETS_PATH}/vehicles/tire_params/base_tire_parameters.yaml
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.. note::
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See :ref:`engine_configuration` for details about how YAML is resolved.
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.. note::
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See :assets:`vehicles/controller_params/generic_pickup_truck.yaml` and :assets:`vehicles/chassis_params/generic_pickup_truck.yaml`.
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‎envision/server.py

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"Missing dependencies for Envision. Install them using the command `pip install -e .[envision]` at the source directory."
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)
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import smarts.core.models
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import smarts.assets.vehicles.visual_model
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from envision.web import dist as web_dist
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from smarts.core.utils.file import path2hash
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async def get(self, id_):
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"""Serve the requested model geometry."""
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if id_ not in self._path_map or not pkg_resources.is_resource(
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smarts.core.models, self._path_map[id_]
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smarts.assets.vehicles.visual_model, self._path_map[id_]
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):
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raise tornado.web.HTTPError(404, f"GLB Model `{id_}` not found.")
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with pkg_resources.path(smarts.core.models, self._path_map[id_]) as path:
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with pkg_resources.path(
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smarts.assets.vehicles.visual_model, self._path_map[id_]
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) as path:
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await self.serve_chunked(path)
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