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manual_control: fix pedestrians

This commit is contained in:
Daniel Santos-Olivan 2021-02-25 10:52:48 +01:00 committed by bernat
parent 49447d6ce9
commit 6a879c89db
1 changed files with 24 additions and 10 deletions
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34
PythonAPI/examples/manual_control.py
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@ -284,10 +284,14 @@ class World(object):
self.radar_sensor.sensor.destroy() self.radar_sensor.sensor.destroy()
self.radar_sensor = None self.radar_sensor = None
def modify_vehicle_physics(self, vehicle): def modify_vehicle_physics(self, actor):
physics_control = vehicle.get_physics_control() #If actor is not a vehicle, we cannot use the physics control
physics_control.use_sweep_wheel_collision = True try:
vehicle.apply_physics_control(physics_control) physics_control = actor.get_physics_control()
physics_control.use_sweep_wheel_collision = True
actor.apply_physics_control(physics_control)
except Exception:
pass
def tick(self, clock): def tick(self, clock):
self.hud.tick(self, clock) self.hud.tick(self, clock)
@ -955,12 +959,22 @@ class CameraManager(object):
bound_y = 0.5 + self._parent.bounding_box.extent.y bound_y = 0.5 + self._parent.bounding_box.extent.y
bound_z = 0.5 + self._parent.bounding_box.extent.z bound_z = 0.5 + self._parent.bounding_box.extent.z
Attachment = carla.AttachmentType Attachment = carla.AttachmentType
self._camera_transforms = [
(carla.Transform(carla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), carla.Rotation(pitch=8.0)), Attachment.SpringArm), if not self._parent.type_id.startswith("walker.pedestrian"):
(carla.Transform(carla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), Attachment.Rigid), self._camera_transforms = [
(carla.Transform(carla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), Attachment.SpringArm), (carla.Transform(carla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), carla.Rotation(pitch=6.0)), Attachment.SpringArm), (carla.Transform(carla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), Attachment.Rigid),
(carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)] (carla.Transform(carla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
else:
self._camera_transforms = [
(carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
(carla.Transform(carla.Location(x=5.5, y=1.5, z=1.5)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-1, y=-bound_y, z=0.5)), Attachment.Rigid)]
self.transform_index = 1 self.transform_index = 1
self.sensors = [ self.sensors = [
['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}], ['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}],