Configuration

SMARTS

You can change the behavior of the underlying SMARTS engine.

Configuration of the engine can come from several sources. These locations take precedence as noted:

1. Individual SMARTS_ prefixed environment variables (e.g. SMARTS_SENSOR_WORKER_COUNT)

2. Local directory engine configuration (./smarts_engine.ini)

3. Local user engine configuration, ~/.smarts/engine.ini, if local directory configuration is not found.

4. Global engine configuration, /etc/smarts/engine.ini, if local configuration is not found.

5. Package default configuration, $PYTHON_PATH/smarts/engine.ini, if global configuration is not found.

6. Code default, config(section, option, default=4), if global configuration is not found.

7. Option default if code default is not given.

Note that configuration files resolve all settings at the first found configuration file (they do not layer.)

Options

All settings demonstrated as environment variables are formatted to UPPERCASE and prefixed with SMARTS_

(e.g. [core] logging can be configured with SMARTS_CORE_LOGGING).

Below is a comparison of valid approaches to changing an engine configuration value:

; Example configuration file
; For syntax see https://docs.python.org/3/library/configparser.html#supported-ini-file-structure
[assets]
default_agent_vehicle = passenger

$ # Another way to apply the value
$ export SMARTS_ASSETS_DEFAULT_AGENT_VEHICLE=passenger

YAML resources

YAML files resolve as PyYAML.safe_load() <https://pyyaml.org/wiki/PyYAMLDocumentation> allows with a few extensions.

Dynamic module resolution

The benchmark configuration directory can be dynamically found through python using an evaluation syntax ${{}}. This is experimental and open to change but the following resolves the python module location in loaded configuration files:

somewhere_path: ${{module.to.resolve}}/file.txt # resolves to <path>/module/to/resolve/file.txt

This avoids loading the module into python but resolves to the first path that matches the module.

Environment variable resolution

Resolving SMARTS engine configuration.

The engine configuration resolves by referencing the setting through the evaluation syntax ${}. This is restricted to "SMARTS_" prefixed environment variables.

is_debug: ${SMARTS_CORE_DEBUG} # literal environment variable or engine setting `[core] debug`

Engine settings

The current list of engine settings are as follows:

Setting	SMARTS_ASSETS_PATH	SMARTS_ASSETS_DEFAULT_AGENT_VEHICLE	SMARTS_ASSETS_DEFAULT_AGENT_DEFINITIONS_LIST	SMARTS_CORE_DEBUG	SMARTS_CORE_MAX_CUSTOM_IMAGE_SENSORS	SMARTS_CORE_OBSERVATION_WORKERS	SMARTS_CORE_RESET_RETRIES	SMARTS_CORE_SENSOR_PARALLELIZATION	SMARTS_PHYSICS_MAX_PYBULLET_FREQ	SMARTS_RAY_NUM_CPUS	SMARTS_RAY_NUM_GPUS	SMARTS_RAY_LOG_TO_DRIVER	SMARTS_SUMO_CENTRAL_HOST	SMARTS_SUMO_TRACI_SERVE_MODE	SMARTS_SUMO_CENTRAL_PORT	SMARTS_VISDOM_ENABLED	SMARTS_VISDOM_HOSTNAME	SMARTS_VISDOM_PORT
Section	assets	assets	assets	core	core	core	core	core	physics	ray	ray	ray	sumo	sumo	sumo	visdom	visdom	visdom
Type	string	string	string	boolean	integer	integer	integer	string	integer	integer|``None``	integer|``None``	boolean	string	string	integer	boolean	string	integer
Default	"<SMARTS>/assets"	"sedan"	"<SMARTS>/assets/vehicles/vehicle_definitions_list.yaml"	False	32	0	0	"mp"	240	None	0	False	8619	"localhost"	"local"	False	"http://localhost"	8097
Values	Any existing path (not recommended to change)	Any defined vehicle name.	Any existing YAML file.	True|False	0 or greater	0 or greater (0 disables parallelization)	0 or greater	["mp" "ray"]	1 or greater (240 highly recommended)	0 or greater | None	0 or greater | None	True|False	["localhost" "x.x.x.x" "https://..."]	["local" "central"]	As dictated by OS.	True|False	[localhost "x.x.x.x" "http://..."]	As dictated by OS.
Description	The path to SMARTS package assets.	This uses a vehicle from those defined in the SMARTS_ASSETS_DEFAULT_AGENT_DEFINITIONS_LIST file.	The path to a vehicle definition file. See vehicle defaults for more information.	Enables additional debugging information from SMARTS.	Reserves that number of custom image sensors for an individual vehicle.	Determines how many workers SMARTS will use when generating observations. 0 disables parallelization.	Increasing this value gives more attempts for SMARTS to reset to a valid initial state. This can be used to bypass edge case engine errors.	Selects the parallelization backing for SMARTS sensors and observation generation. "mp" uses python’s inbuilt "multiprocessing" library and "ray" uses ray <https://docs.ray.io>.	WARNING change at peril. Configures pybullet’s frequency.	Configures how many CPU’s that ray will use.	Configures how many GPU’s that ray will use.	Enables ray log debugging.	If SMARTS_SUMO_SERVE_MODE=remote, the host name of the remote TraCI management server host.	If SMARTS_SUMO_SERVE_MODE=remote, the port that the TraCI management server communicates on.	The TraCI server spin-up mode to use. "local" generates the TraCI server from the local process. "remote" uses an intermediary server to generate TraCI servers and prevent race conditions between process connections.	If to enable visdom visualization.	The host name for the visdom instance.	The port of the visdom instance.