Improve vehicle physics tests
This commit is contained in:
Daniel Santos-Oliván
DSantosO
parent
e9efa7677e
commit
33c1109954
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@ -98,7 +98,9 @@ def change_physics_control(vehicle, tire_friction = None, drag = None, wheel_swe
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SpawnActor = carla.command.SpawnActor
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FutureActor = carla.command.FutureActor
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ApplyTargetVelocity = carla.command.ApplyTargetVelocity
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SetEnableGravity = carla.command.SetEnableGravity
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ApplyVehicleControl = carla.command.ApplyVehicleControl
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ApplyVehiclePhysicsControl = carla.command.ApplyVehiclePhysicsControl
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class TestApplyVehiclePhysics(SyncSmokeTest):
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@ -208,60 +210,64 @@ class TestVehicleFriction(SyncSmokeTest):
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bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
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for bp_veh in bp_vehicles:
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veh_transf = carla.Transform(carla.Location(35, -200, 0.5), carla.Rotation(yaw=90))
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vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0))
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vehicle_00.set_enable_gravity(True)
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veh_transf_00 = carla.Transform(carla.Location(33, -200, 0.2), carla.Rotation(yaw=90))
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veh_transf_01 = carla.Transform(carla.Location(29, -200, 0.7), carla.Rotation(yaw=90))
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veh_transf.location.x -= 4
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veh_transf.location.z += 0.5
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vehicle_01 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0))
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vehicle_01.set_enable_gravity(False)
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batch = [
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SpawnActor(bp_veh, veh_transf_00)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0)))
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.then(SetEnableGravity(FutureActor, True)),
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SpawnActor(bp_veh, veh_transf_01)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0)))
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.then(SetEnableGravity(FutureActor, False))
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]
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responses = self.client.apply_batch_sync(batch)
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veh_ids = [x.actor_id for x in responses]
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veh_refs = [self.world.get_actor(x) for x in veh_ids]
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if (0 in veh_ids) or (None in veh_refs):
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self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
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self.wait(10)
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vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=0.0, drag=0.0))
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vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=0.0, drag=0.0))
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self.client.apply_batch_sync([
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ApplyVehiclePhysicsControl(veh_refs[0], change_physics_control(veh_refs[0], tire_friction=0.0, drag=0.0)),
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ApplyVehiclePhysicsControl(veh_refs[1], change_physics_control(veh_refs[1], drag=0.0))])
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self.wait(1)
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vel_ref = 100.0 / 3.6
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self.client.apply_batch_sync([
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ApplyTargetVelocity(vehicle_00, carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(vehicle_01, carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(veh_refs[0], carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(veh_refs[1], carla.Vector3D(0, vel_ref, 0)),
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])
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self.wait(1)
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vel_veh_00 = vehicle_00.get_velocity().y
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vel_veh_01 = vehicle_01.get_velocity().y
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vel_veh_00 = veh_refs[0].get_velocity().y
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vel_veh_01 = veh_refs[1].get_velocity().y
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if not list_equal_tol([vel_ref, vel_veh_00, vel_veh_01], 1e-3):
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vehicle_00.destroy()
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vehicle_01.destroy()
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self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
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self.fail("%s: Velocities are not equal after initialization. Ref: %.3f -> [%.3f, %.3f]"
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% (bp_veh.id, vel_ref, vel_veh_00, vel_veh_01))
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self.wait(200)
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self.wait(100)
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vel_veh_00 = veh_refs[0].get_velocity().y
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vel_veh_01 = veh_refs[1].get_velocity().y
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if not list_equal_tol([vel_ref, vel_veh_00, vel_veh_01], 1e-1):
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self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
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vel_veh_00 = vehicle_00.get_velocity().y
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vel_veh_01 = vehicle_01.get_velocity().y
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if not list_equal_tol([vel_ref, vel_veh_00, vel_veh_01], 1e-2):
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vehicle_00.destroy()
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vehicle_01.destroy()
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self.fail("%s: Velocities are not equal after simulation. Ref: %.3f -> [%.3f, %.3f]"
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% (bp_veh.id, vel_ref, vel_veh_00, vel_veh_01))
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loc_veh_00 = vehicle_00.get_location().y
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loc_veh_01 = vehicle_01.get_location().y
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if not list_equal_tol([loc_veh_00, loc_veh_01], 1e-2):
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vehicle_00.destroy()
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vehicle_01.destroy()
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self.fail("%s: Locations are not equal after simulation: %f %f" % (bp_veh.id, loc_veh_00, loc_veh_01))
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vehicle_00.destroy()
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vehicle_01.destroy()
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self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
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def test_vehicle_friction_volume(self):
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print("TestVehicleFriction.test_vehicle_friction_volume")
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@ -271,52 +277,63 @@ class TestVehicleFriction(SyncSmokeTest):
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bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
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bp_vehicles = [x for x in bp_vehicles if int(x.get_attribute('number_of_wheels')) == 4]
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value_vol_friction = 3.5
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value_vol_friction = 5.0
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friction_bp = self.world.get_blueprint_library().find('static.trigger.friction')
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friction_bp.set_attribute('friction', str(value_vol_friction))
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extent = carla.Location(300.0, 2000.0, 700.0)
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extent = carla.Location(300.0, 4500.0, 700.0)
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friction_bp.set_attribute('extent_x', str(extent.x))
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friction_bp.set_attribute('extent_y', str(extent.y))
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friction_bp.set_attribute('extent_z', str(extent.z))
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vol_transf = carla.Transform(carla.Location(27, -200, 1))
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vol_transf.location.y = -120
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vol_transf = carla.Transform(carla.Location(27, -100, 1))
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self.world.debug.draw_box(box=carla.BoundingBox(vol_transf.location, extent * 1e-2), rotation=vol_transf.rotation, life_time=1000, thickness=0.5, color=carla.Color(r=0,g=255,b=0))
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friction_trigger = self.world.spawn_actor(friction_bp, vol_transf)
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for bp_veh in bp_vehicles:
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veh_transf = carla.Transform(carla.Location(36, -200, 1), carla.Rotation(yaw=90))
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vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0))
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vehicle_00.set_enable_gravity(True)
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veh_transf_00 = carla.Transform(carla.Location(36, -200, 0.2), carla.Rotation(yaw=90))
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veh_transf_01 = carla.Transform(carla.Location(28, -200, 0.7), carla.Rotation(yaw=90))
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veh_transf.location.x -= 8
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vehicle_01 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0))
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vehicle_01.set_enable_gravity(True)
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batch = [
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SpawnActor(bp_veh, veh_transf_00)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0))),
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SpawnActor(bp_veh, veh_transf_01)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0)))
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]
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self.wait(20)
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responses = self.client.apply_batch_sync(batch)
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vel_ref = 50.0 / 3.6
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friction_ref = 0.0
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vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=friction_ref, drag=0.0))
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vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=friction_ref, drag=0.0))
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self.wait(1)
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self.client.apply_batch_sync([
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ApplyTargetVelocity(vehicle_00, carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(vehicle_01, carla.Vector3D(0, vel_ref, 0)),
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])
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veh_ids = [x.actor_id for x in responses]
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veh_refs = [self.world.get_actor(x) for x in veh_ids]
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if (0 in veh_ids) or (None in veh_refs):
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self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
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self.wait(10)
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vel_ref = 50.0 / 3.6
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friction_ref = 0.0
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self.client.apply_batch_sync([
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ApplyVehiclePhysicsControl(veh_refs[0], change_physics_control(veh_refs[0], tire_friction=friction_ref, drag=0.0)),
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ApplyVehiclePhysicsControl(veh_refs[1], change_physics_control(veh_refs[1], tire_friction=friction_ref, drag=0.0))])
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self.wait(1)
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self.client.apply_batch_sync([
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ApplyTargetVelocity(veh_refs[0], carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(veh_refs[1], carla.Vector3D(0, vel_ref, 0)),
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])
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self.wait(4)
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# Before trigger
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bef_vel_veh_00 = vehicle_00.get_velocity().y
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bef_vel_veh_01 = vehicle_01.get_velocity().y
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bef_tire_fr_00 = vehicle_00.get_physics_control().wheels[0].tire_friction
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bef_tire_fr_01 = vehicle_01.get_physics_control().wheels[0].tire_friction
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bef_vel_veh_00 = veh_refs[0].get_velocity().y
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bef_vel_veh_01 = veh_refs[1].get_velocity().y
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bef_tire_fr_00 = veh_refs[0].get_physics_control().wheels[0].tire_friction
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bef_tire_fr_01 = veh_refs[1].get_physics_control().wheels[0].tire_friction
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extent = carla.Location(100.0, 100.0, 200.0)
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self.world.debug.draw_box(box=carla.BoundingBox(veh_refs[1].get_location(), extent * 1e-2), rotation=vol_transf.rotation, life_time=8, thickness=0.5, color=carla.Color(r=255,g=0,b=0))
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if not equal_tol(bef_vel_veh_00, vel_ref, 1e-3) or not equal_tol(bef_tire_fr_00, friction_ref, 1e-3):
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self.fail("%s: Reference vehicle has changed before trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
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@ -328,13 +345,13 @@ class TestVehicleFriction(SyncSmokeTest):
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self.wait(100)
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# Inside trigger
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ins_vel_veh_00 = vehicle_00.get_velocity().y
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ins_vel_veh_01 = vehicle_01.get_velocity().y
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ins_tire_fr_00 = vehicle_00.get_physics_control().wheels[0].tire_friction
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ins_tire_fr_01 = vehicle_01.get_physics_control().wheels[0].tire_friction
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ins_vel_veh_00 = veh_refs[0].get_velocity().y
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ins_vel_veh_01 = veh_refs[1].get_velocity().y
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ins_tire_fr_00 = veh_refs[0].get_physics_control().wheels[0].tire_friction
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ins_tire_fr_01 = veh_refs[1].get_physics_control().wheels[0].tire_friction
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#extent = carla.Location(100.0, 100.0, 200.0)
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#self.world.debug.draw_box(box=carla.BoundingBox(vehicle_01.get_location(), extent * 1e-2), rotation=vol_transf.rotation, life_time=2, thickness=0.5, color=carla.Color(r=255,g=0,b=0))
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extent = carla.Location(100.0, 100.0, 200.0)
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self.world.debug.draw_box(box=carla.BoundingBox(veh_refs[1].get_location(), extent * 1e-2), rotation=vol_transf.rotation, life_time=8, thickness=0.5, color=carla.Color(r=255,g=0,b=0))
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if not equal_tol(ins_vel_veh_00, vel_ref, 1e-3) or not equal_tol(ins_tire_fr_00, friction_ref, 1e-3):
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self.fail("%s: Reference vehicle has changed inside trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
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@ -346,10 +363,13 @@ class TestVehicleFriction(SyncSmokeTest):
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self.wait(200)
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# Outside trigger
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out_vel_veh_00 = vehicle_00.get_velocity().y
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out_vel_veh_01 = vehicle_01.get_velocity().y
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out_tire_fr_00 = vehicle_00.get_physics_control().wheels[0].tire_friction
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out_tire_fr_01 = vehicle_01.get_physics_control().wheels[0].tire_friction
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out_vel_veh_00 = veh_refs[0].get_velocity().y
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out_vel_veh_01 = veh_refs[1].get_velocity().y
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out_tire_fr_00 = veh_refs[0].get_physics_control().wheels[0].tire_friction
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out_tire_fr_01 = veh_refs[1].get_physics_control().wheels[0].tire_friction
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extent = carla.Location(100.0, 100.0, 200.0)
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self.world.debug.draw_box(box=carla.BoundingBox(veh_refs[1].get_location(), extent * 1e-2), rotation=vol_transf.rotation, life_time=8, thickness=0.5, color=carla.Color(r=255,g=0,b=0))
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if not equal_tol(out_vel_veh_00, vel_ref, 1e-3) or not equal_tol(out_tire_fr_00, friction_ref, 1e-3):
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self.fail("%s: Reference vehicle has changed after trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
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@ -358,8 +378,7 @@ class TestVehicleFriction(SyncSmokeTest):
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self.fail("%s: Test vehicle is not correct after trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
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% (bp_veh.id, out_vel_veh_01, vel_ref, out_tire_fr_01, friction_ref))
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vehicle_00.destroy()
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vehicle_01.destroy()
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self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
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friction_trigger.destroy()
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@ -373,60 +392,71 @@ class TestVehicleFriction(SyncSmokeTest):
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for bp_veh in bp_vehicles:
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veh_transf = carla.Transform(carla.Location(36, -200, 0.3), carla.Rotation(yaw=90))
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vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0))
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veh_transf_00 = carla.Transform(carla.Location(36, -200, 0.2), carla.Rotation(yaw=90))
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veh_transf_01 = carla.Transform(carla.Location(32, -200, 0.7), carla.Rotation(yaw=90))
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veh_transf_02 = carla.Transform(carla.Location(28, -200, 0.7), carla.Rotation(yaw=90))
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veh_transf.location.x -= 4
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vehicle_01 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0))
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batch = [
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SpawnActor(bp_veh, veh_transf_00)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0))),
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SpawnActor(bp_veh, veh_transf_01)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0))),
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SpawnActor(bp_veh, veh_transf_02)
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.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0)))
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]
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veh_transf.location.x -= 4
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vehicle_02 = self.world.spawn_actor(bp_veh, veh_transf)
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vehicle_02.set_target_velocity(carla.Vector3D(0, 0, 0))
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responses = self.client.apply_batch_sync(batch)
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veh_ids = [x.actor_id for x in responses]
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veh_refs = [self.world.get_actor(x) for x in veh_ids]
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if (0 in veh_ids) or (None in veh_refs):
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self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
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self.wait(10)
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self.client.apply_batch_sync([
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ApplyVehiclePhysicsControl(veh_refs[0], change_physics_control(veh_refs[0], tire_friction=0.0, drag=0.0)),
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ApplyVehiclePhysicsControl(veh_refs[1], change_physics_control(veh_refs[1], tire_friction=0.5, drag=0.0)),
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ApplyVehiclePhysicsControl(veh_refs[2], change_physics_control(veh_refs[1], tire_friction=3.0, drag=0.0))])
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self.wait(1)
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vel_ref = 100.0 / 3.6
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vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=0.0, drag=0.0))
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vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=0.5, drag=0.0))
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vehicle_02.apply_physics_control(change_physics_control(vehicle_02, tire_friction=3.0, drag=0.0))
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self.wait(1)
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self.client.apply_batch_sync([
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ApplyTargetVelocity(vehicle_00, carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(vehicle_01, carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(vehicle_02, carla.Vector3D(0, vel_ref, 0))
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ApplyTargetVelocity(veh_refs[0], carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(veh_refs[1], carla.Vector3D(0, vel_ref, 0)),
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ApplyTargetVelocity(veh_refs[2], carla.Vector3D(0, vel_ref, 0))
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])
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self.wait(50)
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vel_veh_00 = vehicle_00.get_velocity().y
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loc_veh_00 = vehicle_00.get_location().y
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loc_veh_01 = vehicle_01.get_location().y
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loc_veh_02 = vehicle_02.get_location().y
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vel_veh_00 = veh_refs[0].get_velocity().y
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loc_veh_00 = veh_refs[0].get_location().y
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loc_veh_01 = veh_refs[1].get_location().y
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loc_veh_02 = veh_refs[2].get_location().y
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for _i in range(0, 300):
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for _i in range(0, 150):
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self.world.tick()
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self.client.apply_batch_sync([
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ApplyVehicleControl(vehicle_00, carla.VehicleControl(brake=1.0)),
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ApplyVehicleControl(vehicle_01, carla.VehicleControl(brake=1.0)),
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ApplyVehicleControl(vehicle_02, carla.VehicleControl(brake=1.0))
|
||||
ApplyVehicleControl(veh_refs[0], carla.VehicleControl(brake=1.0)),
|
||||
ApplyVehicleControl(veh_refs[1], carla.VehicleControl(brake=1.0)),
|
||||
ApplyVehicleControl(veh_refs[2], carla.VehicleControl(brake=1.0))
|
||||
])
|
||||
|
||||
curr_vel_veh_00 = vehicle_00.get_velocity().y
|
||||
dist_veh_00 = vehicle_00.get_location().y - loc_veh_00
|
||||
dist_veh_01 = vehicle_01.get_location().y - loc_veh_01
|
||||
dist_veh_02 = vehicle_02.get_location().y - loc_veh_02
|
||||
dist_veh_00 = veh_refs[0].get_location().y - loc_veh_00
|
||||
dist_veh_01 = veh_refs[1].get_location().y - loc_veh_01
|
||||
dist_veh_02 = veh_refs[2].get_location().y - loc_veh_02
|
||||
|
||||
err_veh_00 = not equal_tol(vel_veh_00, curr_vel_veh_00, 1e-3) and False # Fix when content is updated
|
||||
err_veh_01 = dist_veh_01 > 0.75 * dist_veh_00
|
||||
err_veh_02 = dist_veh_02 > 0.75 * dist_veh_01
|
||||
|
||||
if err_veh_00 or err_veh_01 or err_veh_02:
|
||||
self.fail("%s: Friction test failed: ErrVeh00: %r ErrVeh01: %r ErrVeh02: %r."
|
||||
% (bp_veh.id, err_veh_00, err_veh_01, err_veh_02))
|
||||
if err_veh_01 or err_veh_02:
|
||||
self.fail("%s: Friction test failed: ErrVeh01: %r ErrVeh02: %r."
|
||||
% (bp_veh.id, err_veh_01, err_veh_02))
|
||||
|
||||
vehicle_00.destroy()
|
||||
vehicle_01.destroy()
|
||||
vehicle_02.destroy()
|
||||
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
|
||||
|
||||
|
||||
class TestVehicleTireConfig(SyncSmokeTest):
|
||||
|
|
@ -434,7 +464,7 @@ class TestVehicleTireConfig(SyncSmokeTest):
|
|||
for _i in range(0, frames):
|
||||
self.world.tick()
|
||||
|
||||
def _test_vehicle_wheel_collision(self):
|
||||
def test_vehicle_wheel_collision(self):
|
||||
print("TestVehicleTireConfig.test_vehicle_wheel_collision")
|
||||
|
||||
self.client.load_world("Town05_Opt", False)
|
||||
|
|
@ -443,48 +473,54 @@ class TestVehicleTireConfig(SyncSmokeTest):
|
|||
bp_vehicles = [x for x in bp_vehicles if int(x.get_attribute('number_of_wheels')) == 4]
|
||||
|
||||
for bp_veh in bp_vehicles:
|
||||
veh_transf = carla.Transform(carla.Location(35, -200, 1), carla.Rotation(yaw=90))
|
||||
veh_transf_00 = carla.Transform(carla.Location(36, -200, 0.2), carla.Rotation(yaw=91))
|
||||
veh_transf_01 = carla.Transform(carla.Location(31, -200, 0.7), carla.Rotation(yaw=91))
|
||||
|
||||
vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
|
||||
vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0))
|
||||
batch = [
|
||||
SpawnActor(bp_veh, veh_transf_00)
|
||||
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0))),
|
||||
SpawnActor(bp_veh, veh_transf_01)
|
||||
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0)))
|
||||
]
|
||||
|
||||
veh_transf.location.x -= 4
|
||||
vehicle_01 = self.world.spawn_actor(bp_veh, veh_transf)
|
||||
vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0))
|
||||
responses = self.client.apply_batch_sync(batch)
|
||||
|
||||
veh_ids = [x.actor_id for x in responses]
|
||||
veh_refs = [self.world.get_actor(x) for x in veh_ids]
|
||||
|
||||
if (0 in veh_ids) or (None in veh_refs):
|
||||
self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
|
||||
|
||||
self.wait(10)
|
||||
|
||||
vel_ref = 100.0 / 3.6
|
||||
vehicle_00.apply_physics_control(change_physics_control(vehicle_00, wheel_sweep = False))
|
||||
vehicle_01.apply_physics_control(change_physics_control(vehicle_01, wheel_sweep = True))
|
||||
self.client.apply_batch_sync([
|
||||
ApplyVehiclePhysicsControl(veh_refs[0], change_physics_control(veh_refs[0], wheel_sweep = False)),
|
||||
ApplyVehiclePhysicsControl(veh_refs[1], change_physics_control(veh_refs[1], wheel_sweep = True))])
|
||||
self.wait(1)
|
||||
|
||||
self.client.apply_batch_sync([
|
||||
ApplyTargetVelocity(vehicle_00, carla.Vector3D(0, vel_ref, 0)),
|
||||
ApplyTargetVelocity(vehicle_01, carla.Vector3D(0, vel_ref, 0))
|
||||
ApplyTargetVelocity(veh_refs[0], carla.Vector3D(0, vel_ref, 0)),
|
||||
ApplyTargetVelocity(veh_refs[1], carla.Vector3D(0, vel_ref, 0))
|
||||
])
|
||||
self.wait(200)
|
||||
self.wait(150)
|
||||
|
||||
loc_veh_00 = vehicle_00.get_location().y
|
||||
loc_veh_01 = vehicle_01.get_location().y
|
||||
vel_veh_00 = vehicle_00.get_velocity().y
|
||||
vel_veh_01 = vehicle_01.get_velocity().y
|
||||
loc_veh_00 = veh_refs[0].get_location().y
|
||||
loc_veh_01 = veh_refs[1].get_location().y
|
||||
vel_veh_00 = veh_refs[0].get_velocity().y
|
||||
vel_veh_01 = veh_refs[1].get_velocity().y
|
||||
|
||||
if not list_equal_tol([vel_veh_00, vel_veh_01], 0.1):
|
||||
vehicle_00.destroy()
|
||||
vehicle_01.destroy()
|
||||
if not list_equal_tol([vel_veh_00, vel_veh_01], 0.5):
|
||||
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
|
||||
self.fail("%s: Velocities are not equal after simulation. [%.3f, %.3f]"
|
||||
% (bp_veh.id, vel_veh_00, vel_veh_01))
|
||||
|
||||
|
||||
if not list_equal_tol([loc_veh_00, loc_veh_01], 1):
|
||||
vehicle_00.destroy()
|
||||
vehicle_01.destroy()
|
||||
if not list_equal_tol([loc_veh_00, loc_veh_01], 0.5):
|
||||
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
|
||||
self.fail("%s: Locations are not equal after simulation. [%.3f, %.3f]"
|
||||
% (bp_veh.id, loc_veh_00, loc_veh_01))
|
||||
|
||||
vehicle_00.destroy()
|
||||
vehicle_01.destroy()
|
||||
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
|
||||
|
||||
def test_vehicle_tire_long_stiff(self):
|
||||
print("TestVehicleTireConfig.test_vehicle_tire_long_stiff")
|
||||
|
|
@ -495,54 +531,52 @@ class TestVehicleTireConfig(SyncSmokeTest):
|
|||
bp_vehicles = [x for x in bp_vehicles if int(x.get_attribute('number_of_wheels')) == 4]
|
||||
|
||||
for bp_veh in bp_vehicles:
|
||||
|
||||
ref_pos = -200
|
||||
veh_transf = carla.Transform(carla.Location(36, ref_pos, 0.2), carla.Rotation(yaw=90))
|
||||
|
||||
vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
|
||||
vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0))
|
||||
veh_transf_00 = carla.Transform(carla.Location(36 - 0, ref_pos, 0.2), carla.Rotation(yaw=90))
|
||||
veh_transf_01 = carla.Transform(carla.Location(36 - 5, ref_pos, 0.2), carla.Rotation(yaw=90))
|
||||
|
||||
veh_transf.location.x -= 4
|
||||
vehicle_01 = self.world.spawn_actor(bp_veh, veh_transf)
|
||||
vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0))
|
||||
batch = [
|
||||
SpawnActor(bp_veh, veh_transf_00)
|
||||
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0))),
|
||||
SpawnActor(bp_veh, veh_transf_01)
|
||||
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, 0, 0)))
|
||||
]
|
||||
|
||||
veh_transf.location.x -= 4
|
||||
vehicle_02 = self.world.spawn_actor(bp_veh, veh_transf)
|
||||
vehicle_02.set_target_velocity(carla.Vector3D(0, 0, 0))
|
||||
responses = self.client.apply_batch_sync(batch)
|
||||
|
||||
veh_ids = [x.actor_id for x in responses]
|
||||
veh_refs = [self.world.get_actor(x) for x in veh_ids]
|
||||
|
||||
if (0 in veh_ids) or (None in veh_refs):
|
||||
self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
|
||||
|
||||
self.wait(10)
|
||||
|
||||
vehicle_00.apply_physics_control(change_physics_control(vehicle_00, drag=0.0, long_stiff = 100))
|
||||
vehicle_01.apply_physics_control(change_physics_control(vehicle_01, drag=0.0, long_stiff = 500))
|
||||
vehicle_02.apply_physics_control(change_physics_control(vehicle_02, drag=0.0, long_stiff = 2000))
|
||||
self.client.apply_batch_sync([
|
||||
ApplyVehiclePhysicsControl(veh_refs[0], change_physics_control(veh_refs[0], drag=0.0, long_stiff = 100)),
|
||||
ApplyVehiclePhysicsControl(veh_refs[1], change_physics_control(veh_refs[1], drag=0.0, long_stiff = 2000))])
|
||||
|
||||
self.wait(1)
|
||||
|
||||
for _i in range(0, 100):
|
||||
self.world.tick()
|
||||
self.client.apply_batch_sync([
|
||||
ApplyVehicleControl(vehicle_00, carla.VehicleControl(throttle=1.0)),
|
||||
ApplyVehicleControl(vehicle_01, carla.VehicleControl(throttle=1.0)),
|
||||
ApplyVehicleControl(vehicle_02, carla.VehicleControl(throttle=1.0))
|
||||
])
|
||||
self.client.apply_batch_sync([
|
||||
ApplyVehicleControl(veh_refs[0], carla.VehicleControl(throttle=1.0)),
|
||||
ApplyVehicleControl(veh_refs[1], carla.VehicleControl(throttle=1.0))])
|
||||
|
||||
vel_veh_00 = vehicle_00.get_velocity().y
|
||||
vel_veh_01 = vehicle_01.get_velocity().y
|
||||
vel_veh_02 = vehicle_02.get_velocity().y
|
||||
loc_veh_00 = vehicle_00.get_location().y
|
||||
loc_veh_01 = vehicle_01.get_location().y
|
||||
loc_veh_02 = vehicle_02.get_location().y
|
||||
self.wait(100)
|
||||
|
||||
loc_veh_00 = veh_refs[0].get_location().y
|
||||
loc_veh_01 = veh_refs[1].get_location().y
|
||||
|
||||
dist_veh_00 = loc_veh_00 - ref_pos
|
||||
dist_veh_01 = loc_veh_01 - ref_pos
|
||||
dist_veh_02 = loc_veh_02 - ref_pos
|
||||
|
||||
if dist_veh_01 < dist_veh_00 or dist_veh_02 < dist_veh_01 or vel_veh_01 < vel_veh_00 or vel_veh_01 < vel_veh_01:
|
||||
self.fail("%s: Longitudinal stiffness test failed, check that please. Veh00: [%f, %f] Veh01: [%f, %f] Veh02: [%f, %f]"
|
||||
% (bp_veh.id, dist_veh_00, vel_veh_00, dist_veh_01, vel_veh_01, dist_veh_02, vel_veh_02))
|
||||
if dist_veh_01 < dist_veh_00:
|
||||
self.fail("%s: Longitudinal stiffness test failed, check that please. Veh00: [%f] Veh01: [%f]"
|
||||
% (bp_veh.id, dist_veh_00, dist_veh_01))
|
||||
|
||||
vehicle_00.destroy()
|
||||
vehicle_01.destroy()
|
||||
vehicle_02.destroy()
|
||||
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in veh_ids])
|
||||
|
||||
class TestStickyControl(SyncSmokeTest):
|
||||
def wait(self, frames=100):
|
||||
|
|
|
|||
Loading…
Reference in New Issue