[Help Request] Simulation freezes on episode 149

[dduro2020]

High Level Description

I am trying to use a customised scenario for an agent to learn how to park.

The scenario I'm using:

normal = TrafficActor(name="car", depart_speed=0)

traffic = {}
traffic["0"] = Traffic(
    trips=[
        Trip(
            vehicle_name=f"car_{i+1}",
            route=Route(
                begin=("gneE3", 1, (i+2) * 12),
                end=("gneE3", 1, "max")
            ),
            depart=0,
            actor=normal
        )
        for i in range(2)
    ],
    flows=[]
)

    
route = Route(begin=("gneE3", 1, 29), end=("gneE3", 1, 100))
ego_missions = [
    Mission(
        route=route,
        entry_tactic=TrapEntryTactic(
            start_time=0
        ),
    )
]

gen_scenario(
    scenario=Scenario(
        traffic=traffic,
        ego_missions=ego_missions,
    ),
    output_dir=Path(__file__).parent,
)

This is the xml:

<net version="1.9" junctionCornerDetail="5" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">

    <location netOffset="0.00,0.00" convBoundary="0.00,100.00,200.00,100.00" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>

    <edge id="gneE3" from="gneJ4" to="gneJ6" priority="-1" spreadType="center">
        <lane id="gneE3_0" index="0" speed="0.000000000001" length="200.00" shape="0.00,96.80 200.00,96.80"/>
        <lane id="gneE3_1" index="1" speed="0" length="200.00" shape="0.00,100.00 200.00,100.00"/>
        <lane id="gneE3_2" index="2" speed="0" length="200.00" shape="0.00,103.20 200.00,103.20"/>
    </edge>

    <junction id="gneJ4" type="dead_end" x="0.00" y="100.00" incLanes="" intLanes="" shape="0.00,104.80 0.00,95.20"/>
    <junction id="gneJ6" type="dead_end" x="200.00" y="100.00" incLanes="gneE3_0 gneE3_1 gneE3_2" intLanes="" shape="200.00,95.20 200.00,104.80"/>

</net>

Version

Latest

Operating System

Ubuntu 22.04

Problems

When I use my scenario I get a freeze in episode 149 without any error. If I try a SMARTS scenario I don't have this problem.

Exit when killing:

^CTraceback (most recent call last):
  File "/home/duro/SMARTS/.venv/lib/python3.8/site-packages/direct/showbase/ShowBase.py", line 2145, in __garbageCollectStates
ERROR:Client:Connection to Envision terminated with: 
    RenderState.garbageCollect()
KeyboardInterrupt
:task(error): Exception occurred in PythonTask garbageCollectStates
Killed

[dduro2020]

After several tests it seems that the problem has to do with setting the lane speeds to 0. My intention is for a vehicle to learn to park so I need other static vehicles, is there any other way to achieve this?