Runtime¶
The runtime module implements the actual simulation in Python. It provides a similar interface as the OpenAI Gym environments.
class Runtime(PyRuntime):
def __init__(self,
step_time,
viewer,
scenario_generator=None,
render=False):
self._step_time = step_time
self._viewer = viewer
self._scenario_generator = scenario_generator
self._scenario_idx = None
self._scenario = None
self._render = render
...
def reset(self, scenario=None):
...
def step(self):
...
def render(self):
...
The runtime has a scenario generator that fills in the self._scenario and ID of the current scenario self._scenario_idx.
Scenario¶
The scenario fully defines the initial state of the simulation, such as the agent’s positions and models.
The outline of the Scenario class is given by:
class Scenario:
def __init__(self,
agent_list=None,
eval_agent_ids=None,
map_file_name=None,
json_params=None,
map_interface=None):
self._agent_list = agent_list or []
self._eval_agent_ids = eval_agent_ids or []
self._map_file_name = map_file_name
self._json_params = json_params
self._map_interface = map_interface
...
It also specifies which agents should be evaluated using self._eval_agent_ids.
Scenario Generation¶
A scenario generation in BARK returns a list of scenarios of the type Scenario.
These can be run by the BARK runtime or by the BenchmarkRunner.
Currently available scenario generators:
ConfigurableScenarioGeneration: Sophisticated scenario generation providing conflict resolution.UniformVehicleDistribution: Samples the agents uniformly and their parameters.ConfigWithEase: Configure any scenario fast and with ease.DeterministicScenarioGeneration: Deterministic, reproducible scenario generation.
Benchmarking¶
BARK provides a BenchmarkRunner and BenchmarkAnalyzer to automatically run and verify the performance of novel behavior models.
Viewer¶
A common viewer interface allows easy extension of visualization capabilities of Bark.
Several viewer modules are currently available:
MPViewer: Matplotlib viewer for scientific documentation.Panda3dViewer: 3D-Visualization.PygameViewer: Gym-like visualization of the BARK environment.