adding tools to render directly from a policy, updating data generator, adding scratch files

scratch/arec/intersimple/plan.txt

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+TRAINING
+---------
+1. Load pre-trained massive set of transitions
+-- For all roundabouts
+    -- For all tracks
+        -- For all vehicles
+            -- For all valid timesteps
+                -- Rasterized state (incl. path), action
+
+2. HGAIL
+-- For each epoch
+    -- INSTANTIATE A NEW ENVIRONMENT (Roundabout + Track) w/ randomized agent, from set of all expert environments
+        -- Train discriminator off training data + yielded low-level transitions
+        -- Train generator off yielded high-level transitions + summed low-level discriminator rewards
+
+TESTING
+----------
+1. Save average vehicle velocities for all expert vehicles (loop roundabout + track + vehicle, average over time)
+
+2. Run test suite for: expert, BC, GAIL, RAIL, HGAIL, (and hopefully HRAIL)
+-- For all roundabouts, tracks
+    -- Get expert velocities for track
+    -- Simulate incrementing agent environment (e.g. on reset, agent +=1)
+        -- Store low-level true joint states, actions, and controlled vehicle index
+    -- Per-vehicle statistics (v_all, v_mean, v_shortfall, a_all, jerk_all, n_collisions, T) 
+-- Aggregate statistics + joint 
+
+Problems
+-----------
+Should train without stopping for collisions, however when doing so, end up with policy that always takes decelerate option
+-- It seems safe at the start of each vehicles sim, but actually it isn't since a car will spawn and hit it
+Solutions:
+    -- Hold cars from spawning if their spawn location is full
+    -- Start simulations a few seconds later (after cars clear their spawn places)
+    
+
+
+
+
+
+
+
+Save massive set of transition raw states beforehand (1 from training, but with raw states)
+# -- For all roundabouts, tracks
+#     -- For all vehicles, steps
+#         -- Raw vehicle state, action