Updated vehicle physics tester script
This commit is contained in:
Daniel Santos-Oliván
bernat
parent
c88dc50052
commit
e3760715b7
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@ -214,12 +214,9 @@ def run_scenario(world, bp_veh, init_loc, init_speed = 0.0, init_frames=10,
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apply_phys_control = None):
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veh_transf = init_loc
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#veh_forward = veh_transf.rotation.get_forward_vector()
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vehicle = world.spawn_actor(bp_veh, veh_transf)
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wait(world, 10)
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if apply_phys_control is not None:
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apply_phys_control(vehicle)
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data = TelemetryData(world.get_snapshot().elapsed_seconds, vehicle)
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@ -251,7 +248,7 @@ def run_scenario(world, bp_veh, init_loc, init_speed = 0.0, init_frames=10,
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return data
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def brake_scenario(world, bp_veh, speed, friction, longstiff):
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def brake_scenario(world, bp_veh, speed):
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spectator_transform = carla.Transform(carla.Location(20, -190, 10), carla.Rotation(yaw=67, pitch=-13))
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try:
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@ -260,20 +257,18 @@ def brake_scenario(world, bp_veh, speed, friction, longstiff):
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except:
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print("No spectator")
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phys_control = lambda veh: veh.apply_physics_control(change_physics_control(veh, tire_friction=friction, long_stiff=longstiff))
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init_loc = carla.Transform(carla.Location(32, -180, 0.5), carla.Rotation(yaw=90))
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controls = [
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(1000, carla.VehicleControl(brake=1.0), VehicleControlStop(speed_min=0.1))]
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data = run_scenario(world, bp_veh, init_loc, init_speed=speed/3.6, controls=controls, apply_phys_control=phys_control)
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data = run_scenario(world, bp_veh, init_loc, init_speed=speed/3.6, controls=controls)
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print("Prius: Brake from %.0f km/h at friction [%f, %f]" % (speed, friction, longstiff))
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delta = data.get_scalar_delta(1)
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end_vel = 3.6*norm(data.get_telemetry(2).velocity)
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print(" : Time: %.1f: Distance: %.1f: EndSpeed: %.1f" % (delta[0], delta[1], end_vel))
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print(" %.0f -> 0 km/h: (%.1f s, %.1f m)" % (speed, delta[0], delta[1]), end="")
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def accel_scenario(world, bp_veh, max_vel, longstiff, clutch_strength = None, max_rpm = None):
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def accel_scenario(world, bp_veh, max_vel):
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spectator_transform = carla.Transform(carla.Location(20, -190, 10), carla.Rotation(yaw=67, pitch=-13))
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try:
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@ -282,29 +277,25 @@ def accel_scenario(world, bp_veh, max_vel, longstiff, clutch_strength = None, ma
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except:
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print("No spectator")
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phys_control = lambda veh: veh.apply_physics_control(change_physics_control(veh, long_stiff=longstiff, clutch_strength=clutch_strength, max_rpm=max_rpm))
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init_loc = carla.Transform(carla.Location(32, -180, 0.5), carla.Rotation(yaw=90))
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controls = [
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(1000, carla.VehicleControl(throttle=1.0), VehicleControlStop(speed_max=max_vel/3.6))]
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data = run_scenario(world, bp_veh, init_loc=init_loc, controls=controls, apply_phys_control=phys_control)
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data = run_scenario(world, bp_veh, init_loc=init_loc, controls=controls)
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print("Prius: Accel from 0 to %.0f km/h with LongStiff %.0f, ClutchStrength %.0f, MaxRPM %.0f" % (max_vel, longstiff, clutch_strength, max_rpm))
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delta = data.get_scalar_delta(1)
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end_vel = 3.6*norm(data.get_telemetry(2).velocity)
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print(" : Time: %.1f: Distance: %.1f: EndSpeed: %.1f" % (delta[0], delta[1], end_vel))
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print(" 0 -> %.0f km/h: (%.1f s, %.1f m)" % (max_vel, delta[0], delta[1]), end="")
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def uturn_scenario(world, bp_veh, longstiff=3000, latstiff=17, latload=2):
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def uturn_scenario(world, bp_veh):
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spectator_transform = carla.Transform(carla.Location(30, -180, 20), carla.Rotation(yaw=-140, pitch=-36))
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try:
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spectator = world.get_spectator()
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spectator.set_transform(spectator_transform)
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except:
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print("No spectator")
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phys_control = lambda veh: veh.apply_physics_control(change_physics_control(veh, wheel_sweep=True, long_stiff=longstiff, lat_stiff=latstiff, lat_load=latload))
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pass
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init_pos = carla.Transform(carla.Location(15, -190, 0.2), carla.Rotation(yaw=0))
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controls = [
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@ -313,42 +304,29 @@ def uturn_scenario(world, bp_veh, longstiff=3000, latstiff=17, latload=2):
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(100, carla.VehicleControl(throttle=0.4), VehicleControlStop(x_min =10))
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]
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data = run_scenario(world, bp_veh, init_loc=init_pos, controls=controls, apply_phys_control=phys_control)
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data = run_scenario(world, bp_veh, init_loc=init_pos, controls=controls)
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end_vel = 3.6*norm(data.get_telemetry(3).velocity)
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print("U-Turn: End speed: %f" % end_vel)
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def highspeed_turn_scenario(world, bp_veh, steer, longstiff=3000, latstiff=13, latload=10):
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def highspeed_turn_scenario(world, bp_veh, steer):
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spectator_transform = carla.Transform(carla.Location(70, -200, 15), carla.Rotation(yaw=0, pitch=-12))
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try:
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spectator = world.get_spectator()
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spectator.set_transform(spectator_transform)
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except:
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print("No spectator")
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pass
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text_loc = carla.Location(75, -200, 12)
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world.debug.draw_string(text_loc, "HighSpeedTurn: LongStiff %.0f LatStiff %.0f LatLoad %.2f" % (longstiff, latstiff, latload),
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draw_shadow=False, life_time=3, color=carla.Color(0, 0, 0))
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print("HighSpeedTurn: LongStiff %.0f LatStiff %.0f LatLoad %.2f" % (longstiff, latstiff, latload))
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phys_control = lambda veh: veh.apply_physics_control(change_physics_control(veh, wheel_sweep=True, long_stiff=longstiff, lat_stiff=latstiff, lat_load=latload))
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init_pos = carla.Transform(carla.Location(50, -204, 0.1), carla.Rotation(yaw=0))
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init_pos = carla.Transform(carla.Location(50, -204, 0.2), carla.Rotation(yaw=0))
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init_frames = 2
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init_speed = 100 / 3.6
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controls = [(100, carla.VehicleControl(throttle=0.5), VehicleControlStop(x_max=100)),
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(200, carla.VehicleControl(throttle=1.0, steer = steer), VehicleControlStop(yaw_max=45, speed_min=3)),
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(200, carla.VehicleControl(brake=1), VehicleControlStop())]
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data = run_scenario(world, bp_veh, init_loc=init_pos, init_speed=init_speed, init_frames = init_frames, controls=controls,
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apply_phys_control=phys_control)
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data = run_scenario(world, bp_veh, init_loc=init_pos, init_speed=init_speed, init_frames = init_frames, controls=controls)
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time.sleep(1)
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def main(arg):
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"""Main function of the script"""
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client = carla.Client(arg.host, arg.port)
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@ -367,31 +345,39 @@ def main(arg):
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if world.get_map().name != "Town05":
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client.load_world("Town05", False)
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bp_veh = world.get_blueprint_library().filter(args.filter)[0]
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for bp_veh in world.get_blueprint_library().filter(args.filter):
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print("-------------------------------------------")
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print(bp_veh.id, end="", flush=True)
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veh_transf = carla.Transform()
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veh_transf.location.z = 100
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vehicle = world.spawn_actor(bp_veh, veh_transf)
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print(vehicle.get_physics_control())
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print("Id: %s BlueprintWheels %s PhysicsControlWheels: %d" % (bp_veh.id, bp_veh.get_attribute('number_of_wheels'), len(vehicle.get_physics_control().wheels)))
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wait(world, 4)
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vehicle.destroy()
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if args.basics:
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accel_scenario(world, bp_veh, 50, 3000, 10, 5500)
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accel_scenario(world, bp_veh, 100, 3000, 10, 5500)
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#accel_scenario(world, bp_veh, 180, 3000, 10, 5500)
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if args.show_physics_control:
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try:
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veh_transf = carla.Transform()
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veh_transf.location.z = 100
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vehicle = world.spawn_actor(bp_veh, veh_transf)
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print()
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print(vehicle.get_physics_control())
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vehicle.destroy()
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except:
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pass
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brake_scenario(world, bp_veh, 80, 3.5, 3000)
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brake_scenario(world, bp_veh, 100, 3.5, 3000)
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if args.accel or args.all:
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accel_scenario(world, bp_veh, 50)
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accel_scenario(world, bp_veh, 100)
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uturn_scenario(world, bp_veh, 3000, 10, 10)
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if args.brake or args.all:
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brake_scenario(world, bp_veh, 80)
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brake_scenario(world, bp_veh, 100)
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if args.turn:
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highspeed_turn_scenario(world, bp_veh, 0.2, 3000, 17, 2) # Default
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highspeed_turn_scenario(world, bp_veh, 0.2, 3000, 5, 10) # Proposal 1
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highspeed_turn_scenario(world, bp_veh, 0.2, 3000, 5, 4) # Proposal 2
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highspeed_turn_scenario(world, bp_veh, 0.2, 3000, 13, 10) # New parameters
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if args.uturn or args.all:
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uturn_scenario(world, bp_veh)
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if args.turn or args.all:
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highspeed_turn_scenario(world, bp_veh, 0.2)
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print()
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print("-------------------------------------------")
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finally:
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@ -417,22 +403,48 @@ if __name__ == "__main__":
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argparser.add_argument(
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'--filter',
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metavar='PATTERN',
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default='model3',
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help='actor filter (default: "vehicle.*prius*")')
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default='vehicle.*',
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help='actor filter (default: "vehicle.*")')
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argparser.set_defaults(accel=False)
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argparser.add_argument(
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'--basics',
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dest='basics',
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'--accel',
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dest='accel',
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action='store_true',
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help='Show basic scenarios')
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argparser.set_defaults(basics=False)
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help='Show accel scenarios')
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argparser.set_defaults(brake=False)
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argparser.add_argument(
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'--brake',
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dest='brake',
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action='store_true',
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help='Show brake scenarios')
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argparser.set_defaults(uturn=False)
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argparser.add_argument(
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'--uturn',
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dest='uturn',
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action='store_true',
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help='Show brake scenarios')
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argparser.set_defaults(turn=False)
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argparser.add_argument(
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'--turn',
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dest='turn',
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action='store_true',
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help='Show basic scenarios')
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argparser.set_defaults(turn=False)
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argparser.set_defaults(all=True)
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argparser.add_argument(
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'--all',
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dest='all',
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action='store_true',
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help='Show all scenearios scenarios')
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argparser.set_defaults(show_physics_control=False)
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argparser.add_argument(
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'--show_physics_control',
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dest='show_physics_control',
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action='store_true',
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help='Show default physics control of cars')
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args = argparser.parse_args()
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if args.accel or args.brake or args.uturn or args.turn:
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args.all = False
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try:
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main(args)
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