add sample scenarios

scenarios/argoverse/straight/00a445fb-7293-4be6-adbc-e30c949b6cf7_agents_1/scenario.py

@@ -0,0 +1,41 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = "00a445fb-7293-4be6-adbc-e30c949b6cf7"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+
+ego_mission = [
+    t.Mission(
+        t.Route(
+            begin=("road-206498749-206498861", 0, 28.3),
+            end=("road-206498749-206498861", 0, 52.3),
+        ),
+        entry_tactic=t.TrapEntryTactic(
+            start_time=0.1, wait_to_hijack_limit_s=0, default_entry_speed=0
+        ),
+    )
+]
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/straight/0a53dd99-2946-4b4d-ab66-c4d6fef97be2_agents_1/scenario.py

@@ -0,0 +1,40 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+
+scenario_id = "0a53dd99-2946-4b4d-ab66-c4d6fef97be2"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+
+ego_mission = [
+    t.Mission(
+        t.Route(
+            begin=("road-353638670-353638219-353638558", 1, 6.7),
+            end=("road-353637909-353637861-353637941-353637727", 1, 4.2),
+        ),
+        entry_tactic=t.IdEntryTactic(start_time=0.1, actor_id="history-vehicle-5717"),
+    )
+]
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/straight/0a576bf1-66ae-495a-9c87-236f3fc2aa01_agents_1/scenario.py

@@ -0,0 +1,39 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+
+scenario_id = "0a576bf1-66ae-495a-9c87-236f3fc2aa01"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+
+ego_mission = [
+    t.Mission(
+        t.Route(
+            begin=("road-431632924-431632618", 0, 0),
+            end=("road-431673448-431673312-431673462", 1, 17.0),
+        )
+    )
+]
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/turn/00aae286-362a-4240-aa89-50871a4bd924_agents_1/scenario.py

@@ -0,0 +1,37 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = "00aae286-362a-4240-aa89-50871a4bd924"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+ego_mission = [
+    t.Mission(
+        t.Route(
+            begin=("road-423412446-423411525-423411465-423412854", 1, 0),
+            end=("road-423412446-423411525-423411465-423412854", 2, 20.5),
+        )
+    )
+]
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/turn/00b15e74-04a8-4bd4-9a78-eb24f0c0a980_agents_1/scenario.py

@@ -0,0 +1,48 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = "00b15e74-04a8-4bd4-9a78-eb24f0c0a980"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+actor = t.SocialAgentActor(
+    name="Agent_007",
+    agent_locator="zoo.policies:chase-via-points-agent-v0",
+)
+
+ego_mission = [
+    t.Mission(
+        route=t.Route(begin=("road-240118388", 0, 1.3), end=("road-240118351", 0, 1.0))
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+        # bubbles=[
+        #     t.Bubble(
+        #         actor=actor,
+        #         zone=t.PositionalZone(pos=(0, 0), size=(50, 50)),
+        #         follow_offset=(0, 0),
+        #         margin=0,
+        #         follow_actor_id="Agent_0",
+        #     ),
+        # ],
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/turn/0a60b442-56b0-46c3-be45-cf166a182b67_agents_1/scenario.py

@@ -0,0 +1,37 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = "0a60b442-56b0-46c3-be45-cf166a182b67"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None # e.g. Path("/home/user/argoverse/train/") / scenario_id
+ego_mission = [
+    t.Mission(
+        t.Route(
+            begin=("road-390747694", 0, 1.1),
+            end=("road-390753337-390753391-390752985", 1, 22.5),
+        )
+    )
+]
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/turn/0a764a82-b44e-481e-97e7-05e1f1f925f6_agents_1/scenario.py

@@ -0,0 +1,37 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = "0a764a82-b44e-481e-97e7-05e1f1f925f6"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+ego_mission = [
+    t.Mission(
+        t.Route(
+            begin=("road-395015353-395015556", 0, 0.4),
+            end=("road-394994351", 0, 8.1),
+        )
+    )
+]
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/turn/0bf054e3-7698-4b86-9c98-626df2dee9f4_agents_1/scenario.py

@@ -0,0 +1,37 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+
+# scenario_path is a directory with the following structure:
+# /path/to/dataset/{scenario_id}
+# ├── log_map_archive_{scenario_id}.json
+# └── scenario_{scenario_id}.parquet
+
+scenario_id = "0bf054e3-7698-4b86-9c98-626df2dee9f4"  # e.g. "0000b6ab-e100-4f6b-aee8-b520b57c0530"
+scenario_path = None  # e.g. Path("/home/user/argoverse/train/") / scenario_id
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+ego_mission = [
+    t.Mission(
+        route=t.Route(
+            begin=("road-331937899", 0, 10.1),
+            end=("road-331938057-331937870-331937776", 1, 13.4),
+        )
+    )
+]
+
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/vehicle_following/ff239c9d-e4ff-4acc-bad5-bd55648c212e_0_agents_1/scenario.py

@@ -0,0 +1,31 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+from smarts.core.colors import Colors
+
+
+scenario_id = "ff239c9d-e4ff-4acc-bad5-bd55648c212e"
+scenario_path = None
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+ego_mission = [t.EndlessMission(begin=("road-202833190-202832889-202833142", 2, "max"))]
+
+leader_id = "history-vehicle-46408$"
+# runtime = 11
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+        scenario_metadata=t.ScenarioMetadata(leader_id, Colors.Blue),
+    ),
+    output_dir=Path(__file__).parent,
+)

scenarios/argoverse/vehicle_following/ff239c9d-e4ff-4acc-bad5-bd55648c212e_agents_1/scenario.py

@@ -0,0 +1,31 @@
+from pathlib import Path
+
+from smarts.sstudio import gen_scenario
+from smarts.sstudio import types as t
+from smarts.core.colors import Colors
+
+
+scenario_id = "ff239c9d-e4ff-4acc-bad5-bd55648c212e"
+scenario_path = None
+
+traffic_histories = [
+    t.TrafficHistoryDataset(
+        name=f"argoverse_{scenario_id}",
+        source_type="Argoverse",
+        input_path=scenario_path,
+    )
+]
+
+ego_mission = [t.EndlessMission(begin=("road-202833190-202832889-202833142", 0, "max"))]
+
+leader_id = "history-vehicle-46408$"
+# runtime = 11
+gen_scenario(
+    t.Scenario(
+        ego_missions=ego_mission,
+        map_spec=t.MapSpec(source=f"{scenario_path}", lanepoint_spacing=1.0),
+        traffic_histories=traffic_histories,
+        scenario_metadata=t.ScenarioMetadata(leader_id, Colors.Blue),
+    ),
+    output_dir=Path(__file__).parent,
+)