Bugfix vehicle configuration (#2117)

* Fix vehicle configuration issues.

* Fix bugs.

* Update changelog.

* Make format.

* Add docstring.

CHANGELOG.md

@@ -11,8 +11,12 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ## [Unreleased] - XXXX-XX-XX
 ### Added
 ### Changed
+- `VehicleIndex.build_agent_vehicle()` no longer has `filename` and `surface_patches` parameters.
 ### Deprecated
 ### Fixed
+- Fixed an issue where `AgentInterface.vehicle_type` would not affect agent vehicles when attempting to take over an existing vehicle.
+- Fixed a case where newly created agent vehicles would have a constant `"sedan"` size instead of the size of `AgentInterface.vehicle_type`.
+- Fixed a case where if vehicles are replaced they would not respect controller and vehicle parameters.
 - Fixed an issue where `RandomRoute` would always give the same route across traffic groups in scenario studio.
 - Fixed an issue where `SMARTS` might not be explicitly destroyed in the `ros_driver`.
 - Fixed issue where `SumoTrafficSimulation` could get locked up on reset if a scenario had only 1 map but multiple scenario variations.

smarts/core/actor_capture_manager.py

@@ -68,10 +68,8 @@ def _make_new_vehicle(
             agent_id,
             agent_interface,
             plan,
-            sim.scenario.vehicle_filepath,
             sim.scenario.tire_parameters_filepath,
             True,
-            sim.scenario.surface_patches,
             initial_speed=initial_speed,
             boid=False,
         )

smarts/core/agent_interface.py

@@ -22,7 +22,7 @@
 from dataclasses import dataclass, field, replace
 from enum import IntEnum
 from functools import cached_property
-from typing import List, Optional, Tuple, Union
+from typing import List, Literal, Optional, Tuple, Union
 
 from smarts.core.controllers.action_space_type import ActionSpaceType
 from smarts.core.lidar_sensor_params import BasicLidar
@@ -320,7 +320,9 @@ class AgentInterface:
     The choice of action space; this also decides the controller that will be enabled and the chassis type that will be used.
     """
 
-    vehicle_type: str = "sedan"
+    vehicle_type: Literal[
+        "bus", "coach", "motorcycle", "pedestrian", "sedan", "trailer", "truck"
+    ] = "sedan"
     """
     The choice of vehicle type.
     """
@@ -367,7 +369,15 @@ def __post_init__(self):
             self.lane_positions, LanePositions
         )
         self.signals = AgentInterface._resolve_config(self.signals, Signals)
-        assert self.vehicle_type in {"sedan", "bus"}
+        assert self.vehicle_type in {
+            "bus",
+            "coach",
+            "motorcycle",
+            "pedestrian",
+            "sedan",
+            "trailer",
+            "truck",
+        }
 
     @staticmethod
     def from_type(requested_type: AgentType, **kwargs):

smarts/core/agent_manager.py

@@ -611,10 +611,8 @@ def _add_agent(
             agent_id,
             agent_interface,
             plan,
-            scenario.vehicle_filepath,
             scenario.tire_parameters_filepath,
             trainable,
-            scenario.surface_patches,
             agent_model.initial_speed,
             boid=boid,
             vehicle_id=agent_model.actor_name,

smarts/core/vehicle.py

@@ -29,7 +29,7 @@
 from smarts.core.agent_interface import AgentInterface
 from smarts.core.plan import Mission, Plan
 
-from . import models
+from . import config, models
 from .actor import ActorRole
 from .chassis import AckermannChassis, BoxChassis, Chassis
 from .colors import SceneColors
@@ -72,6 +72,8 @@ def __init__(
         self._id = id
 
         self._chassis: Chassis = chassis
+        if vehicle_config_type == "sedan":
+            vehicle_config_type = "passenger"
         self._vehicle_config_type = vehicle_config_type
         self._action_space = action_space
 
@@ -246,24 +248,69 @@ def valid(self) -> bool:
         return self._initialized
 
     @staticmethod
-    def agent_vehicle_dims(mission: Mission) -> Dimensions:
+    @lru_cache(maxsize=None)
+    def vehicle_urdf_path(vehicle_type: str, override_path: Optional[str]) -> str:
+        """Resolve the physics model filepath.
+
+        Args:
+            vehicle_type (str): The type of the vehicle.
+            override_path (Optional[str]): The override.
+
+        Raises:
+            ValueError: The vehicle type is valid.
+
+        Returns:
+            str: The path to the model `.urdf`.
+        """
+        if (override_path is not None) and os.path.exists(override_path):
+            return override_path
+
+        if vehicle_type == "sedan":
+            vehicle_type = "passenger"
+
+        if vehicle_type == "passenger":
+            urdf_name = "vehicle"
+        elif vehicle_type in {
+            "bus",
+            "coach",
+            "motorcycle",
+            "pedestrian",
+            "trailer",
+            "truck",
+        }:
+            urdf_name = vehicle_type
+        else:
+            raise ValueError(f"Vehicle type `{vehicle_type}` does not exist!!!")
+
+        with pkg_resources.path(models, urdf_name + ".urdf") as path:
+            vehicle_filepath = str(path.absolute())
+
+        return vehicle_filepath
+
+    @staticmethod
+    def agent_vehicle_dims(
+        mission: Mission, default: Optional[str] = None
+    ) -> Dimensions:
         """Get the vehicle dimensions from the mission requirements.
         Args:
             A mission for the agent.
         Returns:
             The mission vehicle spec dimensions XOR the default "passenger" vehicle dimensions.
         """
+        if default == "sedan":
+            default = "passenger"
+        default_type = default or config().get_setting(
+            "resources", "default_agent_vehicle", default="passenger"
+        )
         if mission.vehicle_spec:
             # mission.vehicle_spec.veh_config_type will always be "passenger" for now,
             # but we use that value here in case we ever expand our history functionality.
             vehicle_config_type = mission.vehicle_spec.veh_config_type
             return Dimensions.copy_with_defaults(
                 mission.vehicle_spec.dimensions,
-                VEHICLE_CONFIGS[vehicle_config_type].dimensions,
+                VEHICLE_CONFIGS[vehicle_config_type or default_type].dimensions,
             )
-        # non-history agents can currently only control passenger vehicles.
-        vehicle_config_type = "passenger"
-        return VEHICLE_CONFIGS[vehicle_config_type].dimensions
+        return VEHICLE_CONFIGS[default_type].dimensions
 
     @classmethod
     def build_agent_vehicle(
@@ -272,7 +319,7 @@ def build_agent_vehicle(
         vehicle_id: str,
         agent_interface: AgentInterface,
         plan: Plan,
-        vehicle_filepath: str,
+        vehicle_filepath: Optional[str],
         tire_filepath: str,
         trainable: bool,
         surface_patches: List[Dict[str, Any]],
@@ -281,9 +328,14 @@ def build_agent_vehicle(
         """Create a new vehicle and set up sensors and planning information as required by the
         ego agent.
         """
-        mission = plan.mission
+        urdf_file = cls.vehicle_urdf_path(
+            vehicle_type=agent_interface.vehicle_type, override_path=vehicle_filepath
+        )
 
-        chassis_dims = cls.agent_vehicle_dims(mission)
+        mission = plan.mission
+        chassis_dims = cls.agent_vehicle_dims(
+            mission, default=agent_interface.vehicle_type
+        )
 
         start = mission.start
         if start.from_front_bumper:
@@ -296,18 +348,6 @@ def build_agent_vehicle(
             start_pose = Pose.from_center(start.position, start.heading)
 
         vehicle_color = SceneColors.Agent if trainable else SceneColors.SocialAgent
-
-        if agent_interface.vehicle_type == "sedan":
-            urdf_name = "vehicle"
-        elif agent_interface.vehicle_type == "bus":
-            urdf_name = "bus"
-        else:
-            raise Exception("Vehicle type does not exist!!!")
-
-        if (vehicle_filepath is None) or not os.path.exists(vehicle_filepath):
-            with pkg_resources.path(models, urdf_name + ".urdf") as path:
-                vehicle_filepath = str(path.absolute())
-
         controller_parameters = sim.vehicle_index.controller_params_for_vehicle_type(
             agent_interface.vehicle_type
         )
@@ -340,6 +380,7 @@ def build_agent_vehicle(
             id=vehicle_id,
             chassis=chassis,
             color=vehicle_color,
+            vehicle_config_type=agent_interface.vehicle_type,
         )
 
         return vehicle

smarts/core/vehicle_index.py

@@ -459,7 +459,20 @@ def switch_control_to_agent(
         vehicle = self._vehicles[vehicle_id]
         chassis = None
         if agent_interface and agent_interface.action in sim.dynamic_action_spaces:
-            chassis = AckermannChassis(pose=vehicle.pose, bullet_client=sim.bc)
+            chassis = AckermannChassis(
+                pose=vehicle.pose,
+                bullet_client=sim.bc,
+                vehicle_filepath=Vehicle.vehicle_urdf_path(
+                    vehicle_type=agent_interface.vehicle_type,
+                    override_path=sim.scenario.vehicle_filepath,
+                ),
+                tire_parameters_filepath=sim.scenario.tire_parameters_filepath,
+                friction_map=sim.scenario.surface_patches,
+                controller_parameters=self.controller_params_for_vehicle_type(
+                    agent_interface.vehicle_type
+                ),
+                initial_speed=vehicle.speed,
+            )
         else:
             chassis = BoxChassis(
                 pose=vehicle.pose,
@@ -612,7 +625,10 @@ def _switch_control_to_agent_recreate(
             vehicle.id,
             agent_interface,
             plan,
-            sim.scenario.vehicle_filepath,
+            Vehicle.vehicle_urdf_path(
+                vehicle_type=agent_interface.vehicle_type,
+                override_path=sim.scenario.vehicle_filepath,
+            ),
             sim.scenario.tire_parameters_filepath,
             not hijacking,
             sim.scenario.surface_patches,
@@ -660,12 +676,10 @@ def build_agent_vehicle(
         agent_id,
         agent_interface,
         plan,
-        filepath,
         tire_filepath,
-        trainable,
-        surface_patches,
-        initial_speed=None,
-        boid=False,
+        trainable: bool,
+        initial_speed: Optional[float] = None,
+        boid: bool = False,
         *,
         vehicle_id=None,
     ):
@@ -675,10 +689,13 @@ def build_agent_vehicle(
             vehicle_id=vehicle_id or agent_id,
             agent_interface=agent_interface,
             plan=plan,
-            vehicle_filepath=filepath,
+            vehicle_filepath=Vehicle.vehicle_urdf_path(
+                vehicle_type=agent_interface.vehicle_type,
+                override_path=sim.scenario.vehicle_filepath,
+            ),
             tire_filepath=tire_filepath,
             trainable=trainable,
-            surface_patches=surface_patches,
+            surface_patches=sim.scenario.surface_patches,
             initial_speed=initial_speed,
         )
 

smarts/engine.ini

@@ -9,5 +9,6 @@ max_pybullet_freq = 240
 [providers]
 [rendering]
 [resources]
+default_agent_vehicle = passenger
 [ray]
 log_to_driver=False