ray/examples/carla/scenarios.py

"""Collection of Carla scenarios, including those from the CoRL 2017 paper."""


TEST_WEATHERS = [0, 2, 5, 7, 9, 10, 11, 12, 13]
TRAIN_WEATHERS = [1, 3, 4, 6, 8, 14]


def build_scenario(
        city, start, end, vehicles, pedestrians, max_steps, weathers):
    return {
        "city": city,
        "num_vehicles": vehicles,
        "num_pedestrians": pedestrians,
        "weather_distribution": weathers,
        "start_pos_id": start,
        "end_pos_id": end,
        "max_steps": max_steps,
    }


# Simple scenario for Town02 that involves driving down a road
DEFAULT_SCENARIO = build_scenario(
    city="Town02", start=36, end=40, vehicles=20, pedestrians=40,
    max_steps=200, weathers=[0])

# Simple scenario for Town02 that involves driving down a road
LANE_KEEP = build_scenario(
    city="Town02", start=36, end=40, vehicles=0, pedestrians=0,
    max_steps=2000, weathers=[0])

# Scenarios from the CoRL2017 paper
POSES_TOWN1_STRAIGHT = [
    [36, 40], [39, 35], [110, 114], [7, 3], [0, 4],
    [68, 50], [61, 59], [47, 64], [147, 90], [33, 87],
    [26, 19], [80, 76], [45, 49], [55, 44], [29, 107],
    [95, 104], [84, 34], [53, 67], [22, 17], [91, 148],
    [20, 107], [78, 70], [95, 102], [68, 44], [45, 69]]


POSES_TOWN1_ONE_CURVE = [
    [138, 17], [47, 16], [26, 9], [42, 49], [140, 124],
    [85, 98], [65, 133], [137, 51], [76, 66], [46, 39],
    [40, 60], [0, 29], [4, 129], [121, 140], [2, 129],
    [78, 44], [68, 85], [41, 102], [95, 70], [68, 129],
    [84, 69], [47, 79], [110, 15], [130, 17], [0, 17]]

POSES_TOWN1_NAV = [
    [105, 29], [27, 130], [102, 87], [132, 27], [24, 44],
    [96, 26], [34, 67], [28, 1], [140, 134], [105, 9],
    [148, 129], [65, 18], [21, 16], [147, 97], [42, 51],
    [30, 41], [18, 107], [69, 45], [102, 95], [18, 145],
    [111, 64], [79, 45], [84, 69], [73, 31], [37, 81]]


POSES_TOWN2_STRAIGHT = [
    [38,  34],  [4,  2],  [12,  10],  [62,  55],  [43,  47],
    [64,  66],  [78,  76], [59, 57], [61, 18], [35, 39],
    [12, 8], [0, 18], [75, 68], [54, 60], [45, 49],
    [46, 42], [53, 46], [80, 29], [65, 63], [0, 81],
    [54, 63], [51, 42], [16, 19], [17, 26], [77, 68]]

POSES_TOWN2_ONE_CURVE = [
    [37,  76],  [8,  24],  [60,  69],  [38,  10],  [21,  1],
    [58, 71], [74, 32], [44, 0], [71, 16], [14, 24],
    [34, 11], [43, 14], [75, 16], [80, 21], [3, 23],
    [75, 59], [50, 47], [11, 19], [77, 34], [79, 25],
    [40, 63], [58, 76], [79, 55], [16, 61], [27, 11]]

POSES_TOWN2_NAV = [
    [19, 66], [79, 14], [19, 57], [23, 1],
    [53, 76], [42, 13], [31, 71], [33, 5],
    [54, 30], [10, 61], [66, 3], [27, 12],
    [79, 19], [2, 29], [16, 14], [5, 57],
    [70, 73], [46, 67], [57, 50], [61, 49], [21, 12],
    [51, 81], [77, 68], [56, 65], [43, 54]]

TOWN1_STRAIGHT = [
    build_scenario("Town01", start, end, 0, 0, 300, TEST_WEATHERS)
    for (start, end) in POSES_TOWN1_STRAIGHT]

TOWN1_ONE_CURVE = [
    build_scenario("Town01", start, end, 0, 0, 600, TEST_WEATHERS)
    for (start, end) in POSES_TOWN1_ONE_CURVE]

TOWN1_NAVIGATION = [
    build_scenario("Town01", start, end, 0, 0, 900, TEST_WEATHERS)
    for (start, end) in POSES_TOWN1_NAV]

TOWN1_NAVIGATION_DYNAMIC = [
    build_scenario("Town01", start, end, 20, 50, 900, TEST_WEATHERS)
    for (start, end) in POSES_TOWN1_NAV]

TOWN2_STRAIGHT = [
    build_scenario("Town02", start, end, 0, 0, 300, TRAIN_WEATHERS)
    for (start, end) in POSES_TOWN2_STRAIGHT]

TOWN2_STRAIGHT_DYNAMIC = [
    build_scenario("Town02", start, end, 20, 50, 300, TRAIN_WEATHERS)
    for (start, end) in POSES_TOWN2_STRAIGHT]

TOWN2_ONE_CURVE = [
    build_scenario("Town02", start, end, 0, 0, 600, TRAIN_WEATHERS)
    for (start, end) in POSES_TOWN2_ONE_CURVE]

TOWN2_NAVIGATION = [
    build_scenario("Town02", start, end, 0, 0, 900, TRAIN_WEATHERS)
    for (start, end) in POSES_TOWN2_NAV]

TOWN2_NAVIGATION_DYNAMIC = [
    build_scenario("Town02", start, end, 20, 50, 900, TRAIN_WEATHERS)
    for (start, end) in POSES_TOWN2_NAV]

TOWN1_ALL = (
    TOWN1_STRAIGHT + TOWN1_ONE_CURVE + TOWN1_NAVIGATION +
    TOWN1_NAVIGATION_DYNAMIC)

TOWN2_ALL = (
    TOWN2_STRAIGHT + TOWN2_ONE_CURVE + TOWN2_NAVIGATION +
    TOWN2_NAVIGATION_DYNAMIC)