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from smarts.core.utils.class_factory import ClassRegister
agent_registry = ClassRegister()
[docs]def register(locator: str, entry_point, **kwargs):
"""Register an AgentSpec with the zoo.
In order to load a registered AgentSpec it needs to be reachable from a
directory contained in the PYTHONPATH.
Args:
locator:
A string in the format of 'locator-name'
entry_point:
A callable that returns an AgentSpec or an AgentSpec object
For example:
.. code-block:: python
register(
locator="motion-planner-agent-v0",
entry_point=lambda **kwargs: AgentSpec(
interface=AgentInterface(waypoint_paths=True, action=ActionSpaceType.TargetPose),
agent_builder=MotionPlannerAgent,
),
)
"""
agent_registry.register(name=locator, entry_point=entry_point, **kwargs)
[docs]def make(locator: str, **kwargs):
"""Create an AgentSpec from the given locator.
In order to load a registered AgentSpec it needs to be reachable from a
directory contained in the PYTHONPATH.
Args:
locator:
A string in the format of 'path.to.file:locator-name' where the path
is in the form `{PYTHONPATH}[n]/path/to/file.py`
kwargs:
Additional arguments to be passed to the constructed class.
Returns:
AgentSpec: The agent specifications needed to instantiate and configure an agent.
"""
from smarts.zoo.agent_spec import AgentSpec
agent_spec = agent_registry.make(locator, **kwargs)
assert isinstance(
agent_spec, AgentSpec
), f"Expected make to produce an instance of AgentSpec, got: {agent_spec}"
return agent_spec
[docs]def make_agent(locator: str, **kwargs):
"""Create an Agent from the given agent spec locator.
In order to load a registered AgentSpec it needs to be reachable from a
directory contained in the PYTHONPATH.
Args:
locator:
A string in the format of 'path.to.file:locator-name' where the path
is in the form `{PYTHONPATH}[n]/path/to/file.py`
kwargs:
Additional arguments to be passed to the constructed class.
Returns:
Tuple[Agent, AgentInterface]: The agent and its interface.
"""
agent_spec = make(locator, **kwargs)
return agent_spec.build_agent(), agent_spec.interface