# MIT License
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# Copyright (C) 2023. Huawei Technologies Co., Ltd. All rights reserved.
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from dataclasses import dataclass, field
from typing import Any, Dict, Optional
from smarts.core import gen_id
from smarts.sstudio.sstypes.actor import Actor
from smarts.sstudio.sstypes.bubble_limits import BubbleLimits
[docs]@dataclass(frozen=True)
class SocialAgentActor(Actor):
"""Used as a description/spec for zoo traffic actors. These actors use a
pre-trained model to understand how to act in the environment.
"""
# A pre-registered zoo identifying tag you provide to help SMARTS identify the
# prefab of a social agent.
agent_locator: str
"""The locator reference to the zoo registration call. Expects a string in the format
of 'path.to.file:locator-name' where the path to the registration call is in the form
`{PYTHONPATH}[n]/path/to/file.py`
"""
policy_kwargs: Dict[str, Any] = field(default_factory=dict)
"""Additional keyword arguments to be passed to the constructed class overriding the
existing registered arguments.
"""
initial_speed: Optional[float] = None
"""Set the initial speed, defaults to 0."""
[docs]@dataclass(frozen=True)
class BoidAgentActor(SocialAgentActor):
"""Used as a description/spec for boid traffic actors. Boid actors control multiple
vehicles.
"""
id: str = field(default_factory=lambda: f"boid-{gen_id()}")
# The max number of vehicles that this agent will control at a time. This value is
# honored when using a bubble for boid dynamic assignment.
capacity: Optional[BubbleLimits] = None
"""The capacity of the boid agent to take over vehicles."""