smarts.waymo.waymo_utils module

smarts.waymo.waymo_utils.gen_smarts_scenario_code(dataset_path: str, scenario_id: str) → str

Generate source code for the scenario.py of a SMARTS scenario for a Waymo scenario.

smarts.waymo.waymo_utils.get_tfrecord_info(tfrecord_file: str) → Dict[str, Dict[str, Any]]

Extract info about each scenario in the TFRecord file.

smarts.waymo.waymo_utils.plot_scenario(tfrecord_file: str, scenario_id: str, animate: bool, label_vehicles: bool)

Plot the map features of a Waymo scenario, and optionally plot/animate the vehicle trajectories.