74 lines
3.1 KiB
Markdown
74 lines
3.1 KiB
Markdown
# Control and monitor vehicle physics
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Physics properties can be tuned for vehicles and their wheels.
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These changes are applied **only** on runtime, and values are set back to default when the execution ends.
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These properties are controlled through a
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[carla.VehiclePhysicsControl](python_api.md#carla.VehiclePhysicsControl) object,
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which also provides the control of each wheel's physics through a
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[carla.WheelPhysicsControl](python_api.md#carla.WheelPhysicsControl) object.
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- [__Vehicle control code example__](#vehicle-control-code-example)
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- [__Viewing vehicle telemetry__](#viewing-vehicle-telemetry)
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---
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## Vehicle control code example
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```py
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import carla
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import random
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def main():
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# Connect to client
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client = carla.Client('127.0.0.1', 2000)
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client.set_timeout(2.0)
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# Get World and Actors
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world = client.get_world()
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actors = world.get_actors()
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# Get a random vehicle from world (there should be one at least)
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vehicle = random.choice([actor for actor in actors if 'vehicle' in actor.type_id])
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# Create Wheels Physics Control
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front_left_wheel = carla.WheelPhysicsControl(tire_friction=2.0, damping_rate=1.5, max_steer_angle=70.0, long_stiff_value=1000)
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front_right_wheel = carla.WheelPhysicsControl(tire_friction=2.0, damping_rate=1.5, max_steer_angle=70.0, long_stiff_value=1000)
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rear_left_wheel = carla.WheelPhysicsControl(tire_friction=3.0, damping_rate=1.5, max_steer_angle=0.0, long_stiff_value=1000)
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rear_right_wheel = carla.WheelPhysicsControl(tire_friction=3.0, damping_rate=1.5, max_steer_angle=0.0, long_stiff_value=1000)
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wheels = [front_left_wheel, front_right_wheel, rear_left_wheel, rear_right_wheel]
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# Change Vehicle Physics Control parameters of the vehicle
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physics_control = vehicle.get_physics_control()
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physics_control.torque_curve = [carla.Vector2D(x=0, y=400), carla.Vector2D(x=1300, y=600)]
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physics_control.max_rpm = 10000
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physics_control.moi = 1.0
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physics_control.damping_rate_full_throttle = 0.0
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physics_control.use_gear_autobox = True
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physics_control.gear_switch_time = 0.5
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physics_control.clutch_strength = 10
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physics_control.mass = 10000
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physics_control.drag_coefficient = 0.25
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physics_control.steering_curve = [carla.Vector2D(x=0, y=1), carla.Vector2D(x=100, y=1), carla.Vector2D(x=300, y=1)]
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physics_control.use_sweep_wheel_collision = True
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physics_control.wheels = wheels
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# Apply Vehicle Physics Control for the vehicle
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vehicle.apply_physics_control(physics_control)
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print(physics_control)
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if __name__ == '__main__':
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main()
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```
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---
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## Viewing vehicle telemetry
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Vehicle telemetry can be visualised by calling the [`Actor.enable_debug_telemetry`](python_api.md#carla.Actor.enable_debug_telemetry) method. This will provide graph views of several metrics on the server window as well as vehicle reference points on the simulation window.
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You can try the telemetry visualisation tool in the example script `manual_control.py` located in `PythonAPI/examples`. Activate the telemetry view by pressing `T`.
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