Command Line Interface

A command line interface named scl is available to interact with SMARTS.

Examples of common usage are as follows.

# Start envision server
$ scl envision start

# Build all scenarios under given directories
$ scl scenario build-all ./scenarios

# Rebuild a single scenario, replacing any existing generated assets
$ scl scenario build --clean scenarios/sumo/loop

# Clean generated scenario artifacts
$ scl scenario clean scenarios/sumo/loop

scl

The SMARTS command line interface. Use –help with each command for further information.

scl [OPTIONS] COMMAND [ARGS]...

benchmark

Utilities for running integrated ML benchmarks. See scl benchmark COMMAND –help for further options.

scl benchmark [OPTIONS] COMMAND [ARGS]...

list

Lists available benchmarks that can be used for scl benchmark run.

scl benchmark list [OPTIONS]

Options

--benchmark-listing <benchmark_listing>: Directs to a different listing file.

run

This runs a given benchmark.

Use scl benchmark list to see the available benchmarks.

<benchmark_id> is formatted like BENCHMARK_NAME==BENCHMARK_VERSION.

<agent_locator> is the locator string for the registered agent.

An example use: scl benchmark run –auto-install driving_smarts==0.0 random-relative-target-pose-agent-v0

scl benchmark run [OPTIONS] <benchmark_id> <agent_locator>

Options

--debug-log: Log the benchmark in stdout.

--benchmark-listing <benchmark_listing>: Directs to a different listing file.

--auto-install: Attempt to auto install requirements.

Arguments

<benchmark_id>: Required argument

<agent_locator>: Required argument

diagnostic

Utilities for diagnosing the simulation performance. See scl diagnostic COMMAND –help for further options.

scl diagnostic [OPTIONS] COMMAND [ARGS]...

run

Run all diagnostics.

scl diagnostic run [OPTIONS] <scenarios>

Arguments

<scenarios>: Optional argument(s)

envision

Commands to utilize an Envision server. The Envision web server is used for visualization purposes. See scl envision COMMAND –help for further options.

scl envision [OPTIONS] COMMAND [ARGS]...

start

Start an Envision server.

scl envision start [OPTIONS]

Options

-p, --port <port>: Port Envision will run on.

-c, --max_capacity <max_capacity>: Max capacity in MB of Envision’s playback buffer. The larger the more contiguous history Envision can store.

run

Run an experiment on a scenario

scl run [OPTIONS] <script> [SCRIPT_ARGS]...

Options

--envision: Start up Envision server at the specified port when running an experiment

-p, --envision_port <envision_port>: Port on which Envision will run.

Arguments

<script>: Required argument

SCRIPT_ARGS: Optional argument(s)

scenario

Generate, replay or clean scenarios. See scl scenario COMMAND –help for further options.

scl scenario [OPTIONS] COMMAND [ARGS]...

build

Generate a single scenario

scl scenario build [OPTIONS] <scenario>

Options

--clean: Clean previously generated artifacts first

--seed <seed>: Set the base seed of the scenario.

Arguments

<scenario>: Required argument

build-all

Generate all scenarios under the given directories

scl scenario build-all [OPTIONS] <scenarios>

Options

--clean: Clean previously generated artifacts first

--seed <seed>: Set the base seed of the scenarios.

Arguments

<scenarios>: Optional argument(s)

clean

Remove previously generated scenario artifacts.

scl scenario clean [OPTIONS] <scenario>

Arguments

<scenario>: Required argument

replay

Play saved Envision data files in Envision.

scl scenario replay [OPTIONS]

Options

-d, --directory <directory>

-t, --timestep <timestep>: Timestep in seconds

--endpoint <endpoint>

waymo

Utilities for using the Waymo Motion Dataset with SMARTS. See scl waymo COMMAND –help for further options.

scl waymo [OPTIONS] COMMAND [ARGS]...

export

Export the Waymo scenario to a SMARTS scenario.

scl waymo export [OPTIONS] <tfrecord_file> <scenario_id> <export_folder>

Arguments

<tfrecord_file>: Required argument

<scenario_id>: Required argument

<export_folder>: Required argument

overview

Display summary info for each scenario in the TFRecord file.

scl waymo overview [OPTIONS] <tfrecord_file>

Arguments

<tfrecord_file>: Required argument

preview

Plot the map and trajectories of the scenario.

scl waymo preview [OPTIONS] <tfrecord_file> <scenario_id>

Options

--animate: Animate the vehicle trajectories.

--label_vehicles: Plot the initial positions of all vehicles with their IDs.

Arguments

<tfrecord_file>: Required argument

<scenario_id>: Required argument

zoo

Build, install, or instantiate workers.

scl zoo [OPTIONS] COMMAND [ARGS]...

build

Build a policy

scl zoo build [OPTIONS] <policy>

Arguments

<policy>: Required argument

install

Attempt to install the specified agents from the given URI path.

scl zoo install [OPTIONS] <agent_path>

Arguments

<agent_path>: Required argument(s)

manager

Start the manager process which instantiates workers. Workers execute remote agents.

scl zoo manager [OPTIONS] [PORT]

Arguments

PORT: Optional argument