Car object with its own policy

[lev-smolentsev-K1]

Hi, I wanted to try to create a car agent with its LineChange policy to change lines, during scenario
but i did not get how to span a distinct agent with its distinct policy.
Could you provide a minimal example where some agents are controlled by some "global" env policy and one or two are guided by other policy, like

v = env.engine.spawn_object(DefaultVehicle, 
                                    vehicle_config=cfg, 
                                    position=[30,0], 
                                    heading=0,)
        env.agent_manager.add_policy(v.name,LaneChangePolicy,v.name,1)

and during simulation to do similar to:

p = env.engine.get_policy(v.name)
v.before_step(p.act(v.name))
_ , info = env.step([-1,-1])

[lev-smolentsev-K1]

In this case by agent I mean traffic vehicles. LaneChangePolicy only worked for an ego agent while in traffic_manager it throws: TypeError: act() missing 1 required positional argument: 'agent_id' for the following lines of code:

for v in self._traffic_vehicles:
           p = self.engine.get_policy(v.name)
           v.before_step(p.act())

[lev-smolentsev-K1]

Could you provide any suggestions on how to customize the behavior of the traffic in your simulator?

[QuanyiLi]

For this aim, you need to customize the trafficManager and replace the original one with it. Just check more about managers in our documentation