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Corkyw10/chrono docs (#4160) 

* Added Chrono Integration page to navigation

* Initial draft of Chrono documentation

* Added Python API information for enable_chrono_physics. Made some syntactical changes to first draft of Chrono docs.

* Made the forward slash character in PythonAPI stand out. Added link to Actor class in the Chrono doc.

* Added manual_control_chrono.py to PythonAPI/examples

* Edited chrono torial. Edited changelog.

Co-authored-by: Axel <axellopez92@outlook.com>
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2
CHANGELOG.md
View File

@ -13,6 +13,8 @@
* Added optional flag to `client.replay_file()` `replay_sensors` to enable or disable the replaying the sensors * Added optional flag to `client.replay_file()` `replay_sensors` to enable or disable the replaying the sensors
* Improved manual_control: now cameras are set in relation with car size * Improved manual_control: now cameras are set in relation with car size
* Added CHRONO library for vehicle dynamics simulation (https://projectchrono.org/) * Added CHRONO library for vehicle dynamics simulation (https://projectchrono.org/)
- Supported JSON vehicle definition
- Unsupported collision dynamics
* Added performance benchmarking section to documentation * Added performance benchmarking section to documentation
* CARLA is compatible with the last RoadRunner nomenclature for road assets * CARLA is compatible with the last RoadRunner nomenclature for road assets
* Fixed a bug when importing a FBX map with some **_** in the FBX name * Fixed a bug when importing a FBX map with some **_** in the FBX name

586
Docs/python_api.md
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@ -42,10 +42,25 @@ Tells the simulator to destroy this actor and returns <b>True</b> if it was succ
_</font> _</font>
- <a name="carla.Actor.disable_constant_velocity"></a>**<font color="#7fb800">disable_constant_velocity</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.Actor.disable_constant_velocity"></a>**<font color="#7fb800">disable_constant_velocity</font>**(<font color="#00a6ed">**self**</font>)
Disables any constant velocity previously set for a [carla.Vehicle](#carla.Vehicle) actor. Disables any constant velocity previously set for a [carla.Vehicle](#carla.Vehicle) actor.
- <a name="carla.Actor.enable_chrono_physics"></a>**<font color="#7fb800">enable_chrono_physics</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**max_substeps**</font>, <font color="#00a6ed">**max_substep_delta_time**</font>, <font color="#00a6ed">**vehicle_json**</font>, <font color="#00a6ed">**powertrain_json**</font>, <font color="#00a6ed">**tire_json**</font>, <font color="#00a6ed">**base_json_path**</font>)
Enables Chrono physics on a spawned vehicle.
- **Parameters:**
- `max_substeps` (_int_) – Max number of Chrono substeps.
- `max_substep_delta_time` (_int_) – Max size of substep.
- `vehicle_json` (_str_) – Path to vehicle json file relative to `base_json_path`.
- `powertrain_json` (_str_) – Path to powertrain json file relative to `base_json_path`.
- `tire_json` (_str_) – Path to tire json file relative to `base_json_path`.
- `base_json_path` (_str_) – Path to `chrono/data/vehicle` folder. E.g., `/home/user/carla/Build/chrono-install/share/chrono/data/vehicle/` (the final `/` character is required).
- **Note:** <font color="#8E8E8E">_Ensure that you have started the CARLA server with the `ARGS="--chrono"` flag. You will not be able to use Chrono physics without this flag set.
_</font>
- **Warning:** <font color="#ED2F2F">_Collisions are not supported. When a collision is detected, physics will revert to the default CARLA physics.
_</font>
- <a name="carla.Actor.enable_constant_velocity"></a>**<font color="#7fb800">enable_constant_velocity</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**velocity**</font>) - <a name="carla.Actor.enable_constant_velocity"></a>**<font color="#7fb800">enable_constant_velocity</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**velocity**</font>)
Sets a vehicle's velocity vector to a constant value over time. The resulting velocity will be approximately the `velocity` being set, as with __<font color="#7fb800">set_target_velocity()</font>__. Sets a vehicle's velocity vector to a constant value over time. The resulting velocity will be approximately the `velocity` being set, as with __<font color="#7fb800">set_target_velocity()</font>__.
- **Parameters:** - **Parameters:**
- `velocity` (_[carla.Vector3D](#carla.Vector3D)<small> – m/s</small>_) – Velocity vector in local space. - `velocity` (_[carla.Vector3D](#carla.Vector3D)<small> – m/s</small>_) – Velocity vector in local space.
- **Note:** <font color="#8E8E8E">_Only [carla.Vehicle](#carla.Vehicle) actors can use this method.
_</font>
- **Warning:** <font color="#ED2F2F">_Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM. - **Warning:** <font color="#ED2F2F">_Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM.
_</font> _</font>
@ -3378,146 +3393,37 @@ world.load_map_layer(carla.MapLayer.ParkedVehicles)
</div> </div>
<div id ="carla.World.unload_map_layer-snipet" style="display: none;"> <div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.World.unload_map_layer Snippet for carla.ActorBlueprint.set_attribute
</p> </p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent"> <div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent">
```py
# This recipe toggles off several layers in our "_Opt" maps
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
# as well as buildings and parked vehicles
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```py ```py
# This recipe shows the current traffic rules affecting the vehicle. # This recipe changes attributes of different type of blueprint actors.
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
# ... # ...
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk)) walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
print("Current lane type: " + str(waypoint.lane_type)) walker_bp.set_attribute('is_invincible', True)
# Check current lane change allowed
print("Current Lane change: " + str(waypoint.lane_change)) # ...
# Left and Right lane markings # Changes attribute randomly by the recommended value
print("L lane marking type: " + str(waypoint.left_lane_marking.type)) vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change)) color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
print("R lane marking type: " + str(waypoint.right_lane_marking.type)) vehicle_bp.set_attribute('color', color)
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', 600)
camera_bp.set_attribute('image_size_y', 600)
# ... # ...
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```py
# This recipe spawns an actor and the spectator camera at the actor's location.
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```py
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
# stop pedestrians (list is [controller, actor, controller, actor ...])
for i in range(0, len(all_id), 2):
all_actors[i].stop()
# destroy pedestrian (actor and controller)
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.spawn_actor
</p>
<div id="carla.World.spawn_actor-code" class="SnipetContent">
```py
# This recipe attaches different camera / sensors to a vehicle with different attachments.
# ...
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
# Default attachment: Attachment.Rigid
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
@ -3594,112 +3500,27 @@ for i in range(0, len(all_actors), 2):
</div> </div>
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;"> <div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.ActorBlueprint.set_attribute Snippet for carla.WalkerAIController.stop
</p> </p>
<div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent"> <div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```py ```py
# This recipe changes attributes of different type of blueprint actors. #To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
# ... # stop pedestrians (list is [controller, actor, controller, actor ...])
walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002') for i in range(0, len(all_id), 2):
walker_bp.set_attribute('is_invincible', True) all_actors[i].stop()
# ... # destroy pedestrian (actor and controller)
# Changes attribute randomly by the recommended value client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
vehicle_bp.set_attribute('color', color)
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', 600)
camera_bp.set_attribute('image_size_y', 600)
# ...
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```py
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
# ....
debug = world.debug
world_snapshot = world.get_snapshot()
for actor_snapshot in world_snapshot:
actual_actor = world.get_actor(actor_snapshot.id)
if actual_actor.type_id == 'traffic.traffic_light':
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Sensor.listen
</p>
<div id="carla.Sensor.listen-code" class="SnipetContent">
```py
# This recipe applies a color conversion to the image taken by a camera sensor,
# so it is converted to a semantic segmentation image.
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
# ...
cc = carla.ColorConverter.CityScapesPalette
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Vehicle.set_wheel_steer_direction
</p>
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```py
# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
@ -3742,78 +3563,36 @@ while True:
</div> </div>
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;"> <div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.World.enable_environment_objects Snippet for carla.Map.get_waypoint
</p> </p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent"> <div id="carla.Map.get_waypoint-code" class="SnipetContent">
```py
# This recipe turn visibility off and on for two specifc buildings on the map
# Get the buildings in the world
world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Access individual building IDs and save in a set
building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off
world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.Client.__init__-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Client.__init__
</p>
<div id="carla.Client.__init__-code" class="SnipetContent">
```py ```py
# This recipe shows in every script provided in PythonAPI/Examples # This recipe shows the current traffic rules affecting the vehicle.
# and it is used to parse the client creation arguments when running the script. # Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
argparser = argparse.ArgumentParser(
description=__doc__)
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-s', '--speed',
metavar='FACTOR',
default=1.0,
type=float,
help='rate at which the weather changes (default: 1.0)')
args = argparser.parse_args()
speed_factor = args.speed
update_freq = 0.1 / speed_factor
client = carla.Client(args.host, args.port)
# ...
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
print("Current lane type: " + str(waypoint.lane_type))
# Check current lane change allowed
print("Current Lane change: " + str(waypoint.lane_change))
# Left and Right lane markings
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
# ...
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div> </div>
@ -3862,6 +3641,243 @@ if vehicle_actor.is_at_traffic_light():
<img src="/img/snipets_images/carla.TrafficLight.set_state.gif"> <img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
</div> </div>
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Vehicle.set_wheel_steer_direction
</p>
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```py
# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.unload_map_layer
</p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
```py
# This recipe toggles off several layers in our "_Opt" maps
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
# as well as buildings and parked vehicles
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```py
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
# ....
debug = world.debug
world_snapshot = world.get_snapshot()
for actor_snapshot in world_snapshot:
actual_actor = world.get_actor(actor_snapshot.id)
if actual_actor.type_id == 'traffic.traffic_light':
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.Client.__init__-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Client.__init__
</p>
<div id="carla.Client.__init__-code" class="SnipetContent">
```py
# This recipe shows in every script provided in PythonAPI/Examples
# and it is used to parse the client creation arguments when running the script.
argparser = argparse.ArgumentParser(
description=__doc__)
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-s', '--speed',
metavar='FACTOR',
default=1.0,
type=float,
help='rate at which the weather changes (default: 1.0)')
args = argparser.parse_args()
speed_factor = args.speed
update_freq = 0.1 / speed_factor
client = carla.Client(args.host, args.port)
```
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</div>
<div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Sensor.listen
</p>
<div id="carla.Sensor.listen-code" class="SnipetContent">
```py
# This recipe applies a color conversion to the image taken by a camera sensor,
# so it is converted to a semantic segmentation image.
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
# ...
cc = carla.ColorConverter.CityScapesPalette
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.enable_environment_objects
</p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```py
# This recipe turn visibility off and on for two specifc buildings on the map
# Get the buildings in the world
world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Access individual building IDs and save in a set
building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off
world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)
```
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<div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.spawn_actor
</p>
<div id="carla.World.spawn_actor-code" class="SnipetContent">
```py
# This recipe attaches different camera / sensors to a vehicle with different attachments.
# ...
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
# Default attachment: Attachment.Rigid
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
# ...
```
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Snippet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```py
# This recipe spawns an actor and the spectator camera at the actor's location.
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...
```
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</div> </div>

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# Chrono Integration
This guide outlines what Chrono is, how to use it in CARLA, and the limitations involved in the integration.
- [__Project Chrono__](#project-chrono)
- [__Using Chrono on CARLA__](#using-chrono-on-carla)
- [Configuring the server](#configuring-the-server)
- [Enabling Chrono physics](#enabling-chrono-physics)
- [__Limitations__](#limitations)
---
## Project Chrono
[Project Chrono](https://projectchrono.org/) is an open-source, multi-physics simulation engine that provides highly realistic vehicle dynamics using a template-based approach. The integration in CARLA allows users to utilize Chrono templates to simulate vehicle dynamics while navigating a map.
---
## Using Chrono on CARLA
To use the Chrono integration, you must first configure the server with a tag on startup and then use the PythonAPI to enable it on a spawned vehicle. Read on for more details.
### Configuring the server
Chrono will only work if the CARLA server is compiled with the Chrono tag.
__In the build from source version of CARLA__, run the following command to start the server:
```sh
make launch ARGS="--chrono"
```
---
### Enabling Chrono physics
Chrono physics is enabled using the `enable_chrono_physics` method available through the [Actor](python_api.md#carlaactor) class. As well as values for substeps and substep delta time, it requires three template files and a base path to locate those files:
- __`base_path`:__ Path of the directory which contains the template files. This is necessary to ensure that auxiliary files referenced from the template files have a common base path from which to search.
- __`vehicle_json`:__ Path of the vehicle template file relative to the `base_path`.
- __`tire_json`:__ Path of the tire template file relative to the `base_path`.
- __`powertrain_json`:__ Path of the powertrain template file relative to the `base_path`.
!!! Important
Double-check your paths. Incorrect or missing paths can cause Unreal Engine to crash.
There are a variety of example template files for different vehicles available in `Build/chrono-install/share/chrono/data/vehicle`. Read the Project Chrono [documentation](https://api.projectchrono.org/manual_vehicle.html) to find out more about their vehicle examples and how to create templates.
See below for an example of how to enable Chrono physics:
```python
# Spawn your vehicle
vehicle = world.spawn_actor(bp, spawn_point)
# Set the base path
base_path = "/path/to/carla/Build/chrono-install/share/chrono/data/vehicle/"
# Set the template files
vehicle_json = "sedan/vehicle/Sedan_Vehicle.json"
powertrain_json = "sedan/powertrain/Sedan_SimpleMapPowertrain.json"
tire_json = "sedan/tire/Sedan_TMeasyTire.json"
# Enable Chrono physics
vehicle.enable_chrono_physics(5000, 0.002, vehicle_json, powertrain_json, tire_json, base_path)
```
You can try the Chrono physics integration using the example script `manual_control_chrono.py` found in `PythonAPI/examples`. After running the script, press `Ctrl + o` to enable Chrono.
---
### Limitations
This integration does not support collisions. __When a collision occurs, the vehicle will revert to CARLA default physics.__

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@ -86,6 +86,39 @@
doc: > doc: >
Disables any constant velocity previously set for a carla.Vehicle actor. Disables any constant velocity previously set for a carla.Vehicle actor.
# -------------------------------------- # --------------------------------------
- def_name: enable_chrono_physics
params:
- param_name: max_substeps
type: int
doc: >
Max number of Chrono substeps
- param_name: max_substep_delta_time
type: int
doc: >
Max size of substep
- param_name: vehicle_json
type: str
doc: >
Path to vehicle json file relative to `base_json_path`
- param_name: powertrain_json
type: str
doc: >
Path to powertrain json file relative to `base_json_path`
- param_name: tire_json
type: str
doc: >
Path to tire json file relative to `base_json_path`
- param_name: base_json_path
type: str
doc: >
Path to `chrono/data/vehicle` folder. E.g., `/home/user/carla/Build/chrono-install/share/chrono/data/vehicle/` (the final `/` character is required).
doc: >
Enables Chrono physics on a spawned vehicle.
note: >
Ensure that you have started the CARLA server with the `ARGS="--chrono"` flag. You will not be able to use Chrono physics without this flag set.
warning: >
Collisions are not supported. When a collision is detected, physics will revert to the default CARLA physics.
# --------------------------------------
- def_name: enable_constant_velocity - def_name: enable_constant_velocity
params: params:
- param_name: velocity - param_name: velocity
@ -95,7 +128,7 @@
param_units: m/s param_units: m/s
doc: > doc: >
Sets a vehicle's velocity vector to a constant value over time. The resulting velocity will be approximately the `velocity` being set, as with __<font color="#7fb800">set_target_velocity()</font>__. Sets a vehicle's velocity vector to a constant value over time. The resulting velocity will be approximately the `velocity` being set, as with __<font color="#7fb800">set_target_velocity()</font>__.
Note: > note: >
Only carla.Vehicle actors can use this method. Only carla.Vehicle actors can use this method.
warning: > warning: >
Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://carla.readthedocs.io/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM. Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://carla.readthedocs.io/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM.

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@ -54,6 +54,7 @@ nav:
- 'CarSim Integration (Beta)': "tuto_G_carsim_integration.md" - 'CarSim Integration (Beta)': "tuto_G_carsim_integration.md"
- 'RLlib Integration': "tuto_G_rllib_integration.md" - 'RLlib Integration': "tuto_G_rllib_integration.md"
- 'Scenic': 'tuto_G_scenic.md' - 'Scenic': 'tuto_G_scenic.md'
- 'Chrono Integration': 'tuto_G_chrono.md'
- Tutorials (assets): - Tutorials (assets):
- 'Add a new map': 'tuto_A_add_map_overview.md' - 'Add a new map': 'tuto_A_add_map_overview.md'
- 'Add a new vehicle': 'tuto_A_add_vehicle.md' - 'Add a new vehicle': 'tuto_A_add_vehicle.md'