Changing the collision-action

[Tabbi7]

How can I avoid the simulation stopping when a collision occurs when running examples/simulate.py? I just want the vehicles involved in the collision being teleported. I would like to modify the collision-action value (<collision.action value=“teleport” />), but where is it in Flow?

[mynkpl1998]

If you look at the base class of the flow environment, the crash/collision is implemented here.

If you want to avoid the vehicle ending the simulation you can change the crash logic to something like this. Here, I want to terminate the episode only if there is any rl vehicle collision. For the rest of the vehicles, it is ignored and the vehicle is teleported.

            # Get ids of collided vehicles
            collided_vehicle_ids = set(self.k.kernel_api.simulation.getStartingTeleportIDList())
            
            if len(collided_vehicle_ids) > 0:
                print(collided_vehicle_ids)

            # Get rl vehicle ids
            rl_vehicle_ids = set(['rl_0'])

            # Get list of other vehicles minus rl vehicles
            other_vehicle_ids = set(self.k.vehicle.get_ids()) - rl_vehicle_ids

            if (len(rl_vehicle_ids.intersection(collided_vehicle_ids)) > 0):
                print("Setting crash to true.")
                crash = True