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Updated smoke.test_vehicle_physics 

- Fix error in reload of world
 - New test about long stiff values
 - Minor fixes
This commit is contained in:
Daniel Santos-Olivan 2021-04-22 10:30:40 +02:00 committed by bernat
parent f9d71845e6
commit 88d732e899
1 changed files with 124 additions and 63 deletions
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187
PythonAPI/test/smoke/test_vehicle_physics.py
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@ -63,7 +63,7 @@ def equal_physics_control(pc_a, pc_b):
return True, error_msg
def change_physics_control(vehicle, tire_friction = None, drag = None, wheel_sweep = None):
def change_physics_control(vehicle, tire_friction = None, drag = None, wheel_sweep = None, long_stiff = None):
# Change Vehicle Physics Control parameters of the vehicle
physics_control = vehicle.get_physics_control()
@ -72,7 +72,7 @@ def change_physics_control(vehicle, tire_friction = None, drag = None, wheel_swe
if wheel_sweep is not None:
physics_control.use_sweep_wheel_collision = wheel_sweep
front_left_wheel = physics_control.wheels[0]
rear_left_wheel = physics_control.wheels[2]
front_right_wheel = physics_control.wheels[1]
@ -84,6 +84,12 @@ def change_physics_control(vehicle, tire_friction = None, drag = None, wheel_swe
rear_left_wheel.tire_friction = tire_friction
rear_right_wheel.tire_friction = tire_friction
if long_stiff is not None:
front_left_wheel.long_stiff_value = long_stiff
front_right_wheel.long_stiff_value = long_stiff
rear_left_wheel.long_stiff_value = long_stiff
rear_right_wheel.long_stiff_value = long_stiff
wheels = [front_left_wheel, front_right_wheel, rear_left_wheel, rear_right_wheel]
physics_control.wheels = wheels
@ -97,6 +103,7 @@ class TestApplyVehiclePhysics(SyncSmokeTest):
def check_single_physics_control(self, bp_vehicle):
veh_tranf = self.world.get_map().get_spawn_points()[0]
vehicle = self.world.spawn_actor(bp_vehicle, veh_tranf)
# Checking the setting of car variables (drag coefficient)
@ -112,7 +119,7 @@ class TestApplyVehiclePhysics(SyncSmokeTest):
self.wait(2)
# Checking the setting of wheel variables (tire friction)
pc_a = change_physics_control(vehicle, tire_friction=5)
pc_a = change_physics_control(vehicle, tire_friction=5, long_stiff=987)
vehicle.apply_physics_control(pc_a)
self.wait(2)
pc_b = vehicle.get_physics_control()
@ -150,7 +157,8 @@ class TestApplyVehiclePhysics(SyncSmokeTest):
pc_b = []
for i in range(0, num_veh):
friction = 1.0 + 0.1*i
pc_a.append(change_physics_control(vehicles[i], tire_friction=friction))
lstiff = 500 + 100*i
pc_a.append(change_physics_control(vehicles[i], tire_friction=friction, long_stiff=lstiff))
vehicles[i].apply_physics_control(pc_a[i])
self.wait(2)
@ -183,7 +191,6 @@ class TestApplyVehiclePhysics(SyncSmokeTest):
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
self.check_multiple_physics_control(bp_vehicles)
class TestVehicleFriction(SyncSmokeTest):
def wait(self, frames=100):
for _i in range(0, frames):
@ -192,7 +199,7 @@ class TestVehicleFriction(SyncSmokeTest):
def _test_vehicle_zero_friction(self):
print("TestVehicleFriction.test_vehicle_zero_friction")
self.client.load_world("Town05_Opt")
self.client.load_world("Town05_Opt", False)
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
for bp_veh in bp_vehicles:
@ -262,63 +269,10 @@ class TestVehicleFriction(SyncSmokeTest):
vehicle_01.destroy()
vehicle_02.destroy()
def test_vehicle_wheel_collision(self):
print("TestVehicleFriction.test_vehicle_wheel_collision")
self.client.load_world("Town05_Opt")
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
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))
vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
vehicle_00.set_target_velocity(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))
self.wait(10)
vel_ref = 100.0 / 3.6
vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=10.0, wheel_sweep = False))
vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=10.0, wheel_sweep = False))
self.wait(1)
vehicle_00.set_target_velocity(carla.Vector3D(0, vel_ref, 0))
vehicle_01.set_target_velocity(carla.Vector3D(0, vel_ref, 0))
self.wait(1)
self.wait(200)
vel_veh_00 = vehicle_00.get_velocity().y
vel_veh_01 = vehicle_01.get_velocity().y
if not list_equal_tol([vel_veh_00, vel_veh_01], 0.1):
vehicle_00.destroy()
vehicle_01.destroy()
self.fail("%s: Velocities are not equal after simulation. [%.3f, %.3f]"
% (bp_veh.id, vel_veh_00, vel_veh_01))
loc_veh_00 = vehicle_00.get_location().y
loc_veh_01 = vehicle_01.get_location().y
if not list_equal_tol([loc_veh_00, loc_veh_01], 1):
vehicle_00.destroy()
vehicle_01.destroy()
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()
def _test_vehicle_volume_trigger(self):
print("TestVehicleFriction.test_vehicle_volume_trigger")
self.client.load_world("Town05_Opt")
self.client.load_world("Town05_Opt", False)
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
bp_vehicles = [x for x in bp_vehicles if int(x.get_attribute('number_of_wheels')) == 4]
@ -419,7 +373,7 @@ class TestVehicleFriction(SyncSmokeTest):
def test_vehicle_friction_values(self):
print("TestVehicleFriction.test_vehicle_friction_values")
self.client.load_world("Town05_Opt")
self.client.load_world("Town05_Opt", False)
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
@ -470,8 +424,6 @@ class TestVehicleFriction(SyncSmokeTest):
err_veh_01 = dist_veh_01 > 0.75 * dist_veh_00
err_veh_02 = dist_veh_02 > 0.75 * dist_veh_01
print(dist_veh_01 / dist_veh_00, dist_veh_02 / 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))
@ -481,3 +433,112 @@ class TestVehicleFriction(SyncSmokeTest):
vehicle_02.destroy()
class TestVehicleTireConfig(SyncSmokeTest):
def wait(self, frames=100):
for _i in range(0, frames):
self.world.tick()
def test_vehicle_wheel_collision(self):
print("TestVehicleTireConfig.test_vehicle_wheel_collision")
self.client.load_world("Town05_Opt", False)
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
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))
vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
vehicle_00.set_target_velocity(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))
self.wait(10)
vel_ref = 100.0 / 3.6
vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=10.0, wheel_sweep = False))
vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=10.0, wheel_sweep = False))
self.wait(1)
vehicle_00.set_target_velocity(carla.Vector3D(0, vel_ref, 0))
vehicle_01.set_target_velocity(carla.Vector3D(0, vel_ref, 0))
self.wait(200)
vel_veh_00 = vehicle_00.get_velocity().y
vel_veh_01 = vehicle_01.get_velocity().y
if not list_equal_tol([vel_veh_00, vel_veh_01], 0.1):
vehicle_00.destroy()
vehicle_01.destroy()
self.fail("%s: Velocities are not equal after simulation. [%.3f, %.3f]"
% (bp_veh.id, vel_veh_00, vel_veh_01))
loc_veh_00 = vehicle_00.get_location().y
loc_veh_01 = vehicle_01.get_location().y
if not list_equal_tol([loc_veh_00, loc_veh_01], 1):
vehicle_00.destroy()
vehicle_01.destroy()
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()
def test_vehicle_tire_long_stiff(self):
print("TestVehicleTireConfig.test_vehicle_tire_long_stiff")
self.client.load_world("Town05_Opt", False)
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
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.location.x -= 4
vehicle_01 = self.world.spawn_actor(bp_veh, veh_transf)
vehicle_01.set_target_velocity(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))
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.wait(1)
for _i in range(0, 100):
self.world.tick()
vehicle_00.apply_control(carla.VehicleControl(throttle=1.0))
vehicle_01.apply_control(carla.VehicleControl(throttle=1.0))
vehicle_02.apply_control(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
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))
vehicle_00.destroy()
vehicle_01.destroy()
vehicle_02.destroy()