Actor vehicle name same as configuration. (#1957)

* Actor vehicle now exactly named.

* Update changelog.

* Make sure that actor names are unique.

* Fix validation for case with no social agent actors

* Undo headless false.

CHANGELOG.md

@@ -41,6 +41,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - The trap manager, `TrapManager`, is now a subclass of `ActorCaptureManager`.
 - Considering lane-change time ranges between 3s and 6s, assuming a speed of 13.89m/s, the via sensor lane acquisition range was increased from 40m to 80m, for better driving ability.
 - Modified naming of benchmark used in NeurIPS 2022 from driving-smarts-competition-env to driving-smarts-v2022.
+- Social agent actor vehicles are now exactly named the same as the `name` of the actor. 
 - Sstudio generated scenario vehicle traffic ids are now shortened.
 - ChaseViaPoints zoo agent uses unconstrained path change command, instead of being constrained to [-1, 0, +1] path change commands used previously. 
 - Made the metrics module configurable by supplying parameters through a `Params` class.

scenarios/sumo/intersections/6lane/scenario.py

@@ -4,14 +4,16 @@
 from smarts.sstudio import gen_scenario
 from smarts.sstudio.types import Mission, Route, Scenario, SocialAgentActor
 
-actors = [
-    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 actor_gen(id_):
+    return [
+        SocialAgentActor(
+            name=f"{id_}-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):
@@ -22,10 +24,10 @@ def to_mission(start_edge, end_edge):
 gen_scenario(
     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-1": (actor_gen(1), [to_mission("edge-north-NS", "edge-south-NS")]),
+            "group-2": (actor_gen(2), [to_mission("edge-west-WE", "edge-east-WE")]),
+            "group-3": (actor_gen(3), [to_mission("edge-east-EW", "edge-west-EW")]),
+            "group-4": (actor_gen(4), [to_mission("edge-south-SN", "edge-north-SN")]),
         }
     ),
     output_dir=Path(__file__).parent,

scenarios/sumo/tests/multi_agents_loop/scenario.py

@@ -21,40 +21,30 @@
     ]
 )
 
-laner_agent = t.SocialAgentActor(
-    name="keep-lane-agent",
-    agent_locator="zoo.policies:keep-lane-agent-v0",
-)
 
-buddha_agent = t.SocialAgentActor(
-    name="buddha-agent",
-    agent_locator="scenarios.sumo.tests.multi_agents_loop.agent_prefabs:buddha-agent-v0",
-)
+def make_laner(id_):
+    return t.SocialAgentActor(
+        name=f"keep-lane-agent_{id_}",
+        agent_locator="zoo.policies:keep-lane-agent-v0",
+    )
+
+
+def make_buddha(id_):
+    return t.SocialAgentActor(
+        name=f"buddha-actor_{id_}",
+        agent_locator="scenarios.sumo.tests.multi_agents_loop.agent_prefabs:buddha-agent-v0",
+    )
+
 
 gen_scenario(
     t.Scenario(
         traffic={"basic": traffic},
         social_agent_missions={
-            "group_1": (
-                [laner_agent, buddha_agent],
-                [t.Mission(route=t.RandomRoute())],
-            ),
-            "group_2": (
-                [laner_agent, buddha_agent],
-                [t.Mission(route=t.RandomRoute())],
-            ),
-            "group_3": (
-                [laner_agent, buddha_agent],
-                [t.Mission(route=t.RandomRoute())],
-            ),
-            "group_4": (
-                [laner_agent, buddha_agent],
-                [t.Mission(route=t.RandomRoute())],
-            ),
-            "group_5": (
-                [laner_agent, buddha_agent],
+            f"group_{i}": (
+                [make_laner(i), make_buddha(i)],
                 [t.Mission(route=t.RandomRoute())],
-            ),
+            )
+            for i in range(1, 6)
         },
     ),
     output_dir=Path(__file__).parent,

smarts/core/agent_manager.py

@@ -71,7 +71,7 @@ def __init__(self, sim, interfaces, zoo_addrs=None):
 
         # TODO: This field is only for social agents, but is being used as if it were
         #       for any agent. Revisit the accessors.
-        self._social_agent_data_models = {}
+        self._social_agent_data_models: Dict[str, SocialAgent] = {}
 
         # We send observations and receive actions for all values in this dictionary
         self._remote_social_agents = {}
@@ -528,7 +528,7 @@ def _start_keep_alive_boid_agents(self):
             actor = bubble.actor
             social_agent_data_model = SocialAgent(
                 id=SocialAgentId.new(actor.name),
-                name=actor.name,
+                actor_name=actor.name,
                 is_boid=True,
                 is_boid_keep_alive=True,
                 agent_locator=actor.agent_locator,
@@ -573,7 +573,12 @@ def add_and_emit_social_agent(
         return True
 
     def _add_agent(
-        self, agent_id, agent_interface, agent_model, boid=False, trainable=True
+        self,
+        agent_id,
+        agent_interface,
+        agent_model: SocialAgent,
+        boid=False,
+        trainable=True,
     ):
         # TODO: Disentangle what is entangled below into:
         # 1. AgentState initialization,
@@ -612,7 +617,9 @@ def _add_agent(
             scenario.surface_patches,
             agent_model.initial_speed,
             boid=boid,
+            vehicle_id=agent_model.actor_name,
         )
+
         role = ActorRole.EgoAgent if trainable else ActorRole.SocialAgent
         for provider in sim.providers:
             if agent_interface.action not in provider.actions:
@@ -702,7 +709,7 @@ def agent_name(self, agent_id: str) -> str:
         if agent_id not in self._social_agent_data_models:
             return ""
 
-        return self._social_agent_data_models[agent_id].name
+        return self._social_agent_data_models[agent_id].actor_name
 
     def is_boid_agent(self, agent_id: str) -> bool:
         """Check if an agent is a boid agent"""

smarts/core/bubble_manager.py

@@ -729,9 +729,10 @@ def _prepare_sensors_for_agent_control(
     def _start_social_agent(
         self, sim, agent_id, social_agent, social_agent_actor, bubble
     ):
+        id_ = SocialAgentId.new(social_agent_actor.name)
         social_agent_data_model = SocialAgent(
-            id=SocialAgentId.new(social_agent_actor.name),
-            name=social_agent_actor.name,
+            id=id_,
+            actor_name=id_,
             is_boid=bubble.is_boid,
             is_boid_keep_alive=bubble.keep_alive,
             agent_locator=social_agent_actor.agent_locator,

smarts/core/data_model.py

@@ -29,7 +29,7 @@ class SocialAgent:
     """A serializable representation of a social agent."""
 
     id: str
-    name: str
+    actor_name: str
     is_boid: bool
     is_boid_keep_alive: bool
     agent_locator: str

smarts/core/scenario.py

@@ -413,7 +413,7 @@ def setdefault(l: list, index: int, default):
                     (
                         SocialAgent(
                             id=SocialAgentId.new(actor.name, group=namespace),
-                            name=actor.name,
+                            actor_name=actor.name,
                             is_boid=False,
                             is_boid_keep_alive=False,
                             agent_locator=actor.agent_locator,

smarts/core/tests/test_smarts_frame_rate.py

@@ -38,14 +38,16 @@
 @pytest.fixture
 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 actor_gen(id_):
+            return [
+                t.SocialAgentActor(
+                    name=f"non-interactive-agent-{speed}-v0_{id_}",
+                    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"))
@@ -58,12 +60,24 @@ def fifth_mission(start_edge, end_edge):
         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-1": (
+                        actor_gen(1),
+                        [to_mission("edge-north-NS", "edge-south-NS")],
+                    ),
+                    "group-2": (
+                        actor_gen(2),
+                        [to_mission("edge-west-WE", "edge-east-WE")],
+                    ),
+                    "group-3": (
+                        actor_gen(3),
+                        [to_mission("edge-east-EW", "edge-west-EW")],
+                    ),
+                    "group-4": (
+                        actor_gen(4),
+                        [to_mission("edge-south-SN", "edge-north-SN")],
+                    ),
                     "group-5": (
-                        actors,
+                        actor_gen(5),
                         [fifth_mission("edge-south-SN", "edge-east-WE")],
                     ),
                 },

smarts/core/vehicle_index.py

@@ -651,11 +651,13 @@ def build_agent_vehicle(
         surface_patches,
         initial_speed=None,
         boid=False,
+        *,
+        vehicle_id=None,
     ):
         """Build an entirely new vehicle for an agent."""
         vehicle = Vehicle.build_agent_vehicle(
             sim=sim,
-            vehicle_id=agent_id,
+            vehicle_id=vehicle_id or agent_id,
             agent_interface=agent_interface,
             plan=plan,
             vehicle_filepath=filepath,

smarts/diagnostic/10_agents_to_n_roads/10_roads/scenario.py

@@ -24,20 +24,22 @@
 from smarts.sstudio import gen_scenario
 from smarts.sstudio.types import Mission, RandomRoute, Route, Scenario, SocialAgentActor
 
-actors = [
-    SocialAgentActor(
-        name=f"non-interactive-agent-50-v0",
-        agent_locator="zoo.policies:non-interactive-agent-v0",
-        policy_kwargs={"speed": 50},
-    )
-]
+
+def gen_actors(id_):
+    return [
+        SocialAgentActor(
+            name=f"non-interactive-agent-50-v0_{id_}",
+            agent_locator="zoo.policies:non-interactive-agent-v0",
+            policy_kwargs={"speed": 50},
+        )
+    ]
 
 
 def to_missions(agent_num):
     missions = {}
     for i in range(0, agent_num):
         missions[f"group-{i}"] = tuple(
-            (actors, [Mission(route=RandomRoute())]),
+            (gen_actors(i), [Mission(route=RandomRoute())]),
         )
     return missions
 

smarts/diagnostic/10_agents_to_n_roads/1_roads/scenario.py

@@ -24,20 +24,22 @@
 from smarts.sstudio import gen_scenario
 from smarts.sstudio.types import Mission, RandomRoute, Route, Scenario, SocialAgentActor
 
-actors = [
-    SocialAgentActor(
-        name=f"non-interactive-agent-50-v0",
-        agent_locator="zoo.policies:non-interactive-agent-v0",
-        policy_kwargs={"speed": 50},
-    )
-]
+
+def gen_actors(id_):
+    return [
+        SocialAgentActor(
+            name=f"non-interactive-agent-50-v0_{id_}",
+            agent_locator="zoo.policies:non-interactive-agent-v0",
+            policy_kwargs={"speed": 50},
+        )
+    ]
 
 
 def to_missions(agent_num):
     missions = {}
     for i in range(0, agent_num):
         missions[f"group-{i}"] = tuple(
-            (actors, [Mission(route=RandomRoute())]),
+            (gen_actors(i), [Mission(route=RandomRoute())]),
         )
     return missions
 

smarts/diagnostic/10_agents_to_n_roads/20_roads/scenario.py

@@ -24,20 +24,22 @@
 from smarts.sstudio import gen_scenario
 from smarts.sstudio.types import Mission, RandomRoute, Route, Scenario, SocialAgentActor
 
-actors = [
-    SocialAgentActor(
-        name=f"non-interactive-agent-50-v0",
-        agent_locator="zoo.policies:non-interactive-agent-v0",
-        policy_kwargs={"speed": 50},
-    )
-]
+
+def gen_actors(id_):
+    return [
+        SocialAgentActor(
+            name=f"non-interactive-agent-50-v0_{id_}",
+            agent_locator="zoo.policies:non-interactive-agent-v0",
+            policy_kwargs={"speed": 50},
+        )
+    ]
 
 
 def to_missions(agent_num):
     missions = {}
     for i in range(0, agent_num):
         missions[f"group-{i}"] = tuple(
-            (actors, [Mission(route=RandomRoute())]),
+            (gen_actors(i), [Mission(route=RandomRoute())]),
         )
     return missions
 

smarts/diagnostic/10_agents_to_n_roads/50_roads/scenario.py

@@ -24,20 +24,22 @@
 from smarts.sstudio import gen_scenario
 from smarts.sstudio.types import Mission, RandomRoute, Route, Scenario, SocialAgentActor
 
-actors = [
-    SocialAgentActor(
-        name=f"non-interactive-agent-50-v0",
-        agent_locator="zoo.policies:non-interactive-agent-v0",
-        policy_kwargs={"speed": 50},
-    )
-]
+
+def gen_actors(id_):
+    return [
+        SocialAgentActor(
+            name=f"non-interactive-agent-50-v0_{id_}",
+            agent_locator="zoo.policies:non-interactive-agent-v0",
+            policy_kwargs={"speed": 50},
+        )
+    ]
 
 
 def to_missions(agent_num):
     missions = {}
     for i in range(0, agent_num):
         missions[f"group-{i}"] = tuple(
-            (actors, [Mission(route=RandomRoute())]),
+            (gen_actors(i), [Mission(route=RandomRoute())]),
         )
     return missions