519 lines
19 KiB
Python
519 lines
19 KiB
Python
#!/usr/bin/env python
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# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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"""
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Test collisions example for CARLA
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This script runs several scenarios involving collisions and check if they
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are deterministic for different simulation parameters.
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"""
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import glob
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import os
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import sys
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import argparse
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import time
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import filecmp
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import shutil
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import numpy as np
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try:
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sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
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sys.version_info.major,
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sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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import carla
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class Scenario():
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def __init__(self, client, world, save_snapshots_mode=False):
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self.world = world
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self.client = client
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self.actor_list = []
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self.init_timestamp = []
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self.active = False
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self.prefix = ""
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self.save_snapshots_mode = save_snapshots_mode
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self.snapshots = []
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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self.prefix = prefix
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self.actor_list = []
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self.active = True
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self.snapshots = []
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self.reload_world(settings, spectator_tr)
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# Init timestamp
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world_snapshot = self.world.get_snapshot()
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self.init_timestamp = {'frame0' : world_snapshot.frame, 'time0' : world_snapshot.timestamp.elapsed_seconds}
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def add_actor(self, actor, actor_name="Actor"):
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actor_idx = len(self.actor_list)
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name = str(actor_idx) + "_" + actor_name
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self.actor_list.append((name, actor))
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if self.save_snapshots_mode:
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self.snapshots.append(np.empty((0,11), float))
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def wait(self, frames=100):
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for _i in range(0, frames):
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self.world.tick()
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def clear_scene(self):
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for actor in self.actor_list:
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actor[1].destroy()
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self.active = False
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def reload_world(self, settings = None, spectator_tr = None):
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self.client.reload_world()
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if settings is not None:
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self.world.apply_settings(settings)
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if spectator_tr is not None:
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self.reset_spectator(spectator_tr)
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def reset_spectator(self, spectator_tr):
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spectator = self.world.get_spectator()
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spectator.set_transform(spectator_tr)
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def save_snapshot(self, actor):
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snapshot = self.world.get_snapshot()
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actor_snapshot = np.array([
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float(snapshot.frame - self.init_timestamp['frame0']), \
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snapshot.timestamp.elapsed_seconds - self.init_timestamp['time0'], \
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actor.get_location().x, actor.get_location().y, actor.get_location().z, \
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actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
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actor.get_angular_velocity().x, actor.get_angular_velocity().y, actor.get_angular_velocity().z])
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return actor_snapshot
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def save_snapshots(self):
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if not self.save_snapshots_mode:
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return
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for i in range (0, len(self.actor_list)):
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self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.actor_list[i][1])))
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def save_snapshots_to_disk(self):
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if not self.save_snapshots_mode:
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return
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for i, actor in enumerate(self.actor_list):
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np.savetxt(self.get_filename(actor[0]), self.snapshots[i])
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def get_filename_with_prefix(self, prefix, actor_id=None, frame=None):
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add_id = "" if actor_id is None else "_" + actor_id
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add_frame = "" if frame is None else ("_%04d") % frame
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return prefix + add_id + add_frame + ".out"
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def get_filename(self, actor_id=None, frame=None):
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return self.get_filename_with_prefix(self.prefix, actor_id, frame)
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def run_simulation(self, prefix, run_settings, spectator_tr, tics = 200):
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original_settings = self.world.get_settings()
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self.init_scene(prefix, run_settings, spectator_tr)
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t_start = time.perf_counter()
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for _i in range(0, tics):
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self.world.tick()
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self.save_snapshots()
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t_end = time.perf_counter()
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self.world.apply_settings(original_settings)
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self.save_snapshots_to_disk()
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self.clear_scene()
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return t_end - t_start
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class TwoSpawnedCars(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(100, -257, 0.02), carla.Rotation(yaw=181.5))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(110, -253, 0.04), carla.Rotation(yaw=181.5))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(-25, 0, 0))
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.wait(1)
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class TwoCarsSlowSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(100, -256, 0.015), carla.Rotation(yaw=178))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-12, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+12, 0, 0))
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.wait(1)
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class TwoCarsHighSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(140, -256, 0.015), carla.Rotation(yaw=180))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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self.wait(1)
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vehicle00.set_target_velocity( carla.Vector3D(-50, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+50, 0, 0))
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.wait(1)
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class ThreeCarsSlowSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
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vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
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vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-15, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+15, 0, 0))
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vehicle02.set_target_velocity(carla.Vector3D(0, -15, 0))
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.add_actor(vehicle02, "Car")
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self.wait(1)
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class ThreeCarsHighSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
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vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
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vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-30, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+30, 0, 0))
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vehicle02.set_target_velocity(carla.Vector3D(0, -30, 0))
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.add_actor(vehicle02, "Car")
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self.wait(1)
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class CarBikeCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
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car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
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bike_tr = carla.Transform(carla.Location(85, -245, 0.04), carla.Rotation(yaw=-90))
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bike = self.world.spawn_actor(blueprint_library.filter("*gazelle*")[0], bike_tr)
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self.wait(1)
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car.set_target_velocity(carla.Vector3D(+30, 0, 0))
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bike.set_target_velocity(carla.Vector3D(0, -12, 0))
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self.add_actor(car, "Car")
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self.add_actor(bike, "Bike")
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self.wait(1)
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class CarWalkerCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
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car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
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walker_tr = carla.Transform(carla.Location(85, -255, 1.00), carla.Rotation(yaw=-90))
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walker_bp = blueprint_library.filter("walker.pedestrian.0007")[0]
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if walker_bp.has_attribute('is_invincible'):
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walker_bp.set_attribute('is_invincible', 'false')
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walker = self.world.spawn_actor(walker_bp, walker_tr)
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self.wait(1)
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car.set_target_velocity(carla.Vector3D(+20, 0, 0))
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walker.set_simulate_physics(True)
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self.add_actor(car, "Car")
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self.add_actor(walker, "Walker")
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self.wait(1)
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class CollisionScenarioTester():
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def __init__(self, scene, output_path):
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self.scene = scene
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self.world = self.scene.world
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self.client = self.scene.client
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self.scenario_name = self.scene.__class__.__name__
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self.output_path = output_path
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def compare_files(self, file_i, file_j):
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check_ij = filecmp.cmp(file_i, file_j)
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if check_ij:
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return True
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data_i = np.loadtxt(file_i)
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data_j = np.loadtxt(file_j)
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max_error = np.amax(np.abs(data_i-data_j))
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return max_error < 0.01
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def check_simulations(self, rep_prefixes, gen_prefix):
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repetitions = len(rep_prefixes)
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mat_check = np.zeros((repetitions, repetitions), int)
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for i in range(0, repetitions):
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mat_check[i][i] = 1
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for j in range(0, i):
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sim_check = True
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for actor in self.scene.actor_list:
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actor_id = actor[0]
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file_i = self.scene.get_filename_with_prefix(rep_prefixes[i], actor_id)
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file_j = self.scene.get_filename_with_prefix(rep_prefixes[j], actor_id)
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check_ij = self.compare_files(file_i, file_j)
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sim_check = sim_check and check_ij
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mat_check[i][j] = int(sim_check)
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mat_check[j][i] = int(sim_check)
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determinism = np.sum(mat_check,axis=1)
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#max_rep_equal = np.amax(determinism)
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max_rep_equal_idx = np.argmax(determinism)
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min_rep_equal_idx = np.argmin(determinism)
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determinism_set = list(set(determinism))
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determinism_set.sort(reverse=True)
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#print(determinism)
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#print(np.argmax(determinism))
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#print(np.argmin(determinism))
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self.save_simulations(rep_prefixes, gen_prefix, max_rep_equal_idx, min_rep_equal_idx)
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return determinism_set
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def save_simulations(self, rep_prefixes, prefix, max_idx, min_idx):
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for actor in self.scene.actor_list:
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actor_id = actor[0]
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reference_id = "reference_" + actor_id
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file_repetition = self.scene.get_filename_with_prefix(rep_prefixes[max_idx], actor_id)
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file_reference = self.scene.get_filename_with_prefix(prefix, reference_id)
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shutil.copyfile(file_repetition, file_reference)
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if min_idx != max_idx:
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for actor in self.scene.actor_list:
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actor_id = actor[0]
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failed_id = "failed_" + actor_id
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file_repetition = self.scene.get_filename_with_prefix(rep_prefixes[min_idx], actor_id)
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file_failed = self.scene.get_filename_with_prefix(prefix, failed_id)
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shutil.copyfile(file_repetition, file_failed)
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for r_prefix in rep_prefixes:
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for actor in self.scene.actor_list:
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actor_id = actor[0]
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file_repetition = self.scene.get_filename_with_prefix(r_prefix, actor_id)
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os.remove(file_repetition)
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def test_scenario(self, fps=20, fps_phys=100, repetitions = 1, sim_tics = 100):
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output_str = "Testing Determinism in %s for %3d render FPS and %3d physics FPS -> " % (self.scenario_name, fps, fps_phys)
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# Creating run features: prefix, settings and spectator options
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prefix = self.output_path + self.scenario_name + "_" + str(fps) + "_" + str(fps_phys)
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config_settings = self.world.get_settings()
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config_settings.synchronous_mode = True
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config_settings.fixed_delta_seconds = 1.0/fps
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config_settings.substepping = True
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config_settings.max_substep_delta_time = 1.0/fps_phys
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config_settings.max_substeps = 16
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spectator_tr = carla.Transform(carla.Location(120, -256, 10), carla.Rotation(yaw=180))
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t_comp = 0
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sim_prefixes = []
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for i in range(0, repetitions):
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prefix_rep = prefix + "_rep" + str(i)
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t_comp += self.scene.run_simulation(prefix_rep, config_settings, spectator_tr, tics=sim_tics)
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sim_prefixes.append(prefix_rep)
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determ_repet = self.check_simulations(sim_prefixes, prefix)
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output_str += "Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions)
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output_str += " -> Comp. Time per frame: %.0f" % (t_comp/repetitions*sim_tics)
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if determ_repet[0] != repetitions:
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print("Error!!! Scenario %s is not deterministic: %d / %d" % (self.scenario_name, determ_repet[0], repetitions))
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return output_str
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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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client.set_timeout(30.0)
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world = client.get_world()
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pre_settings = world.get_settings()
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world = client.load_world("Town03")
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spectator_transform = carla.Transform(carla.Location(120, -256, 5), carla.Rotation(yaw=180))
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spectator_transform.location.z += 5
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spectator = world.get_spectator()
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spectator.set_transform(spectator_transform)
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try:
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# Setting output temporal folder
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output_path = os.path.dirname(os.path.realpath(__file__))
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output_path = os.path.join(output_path, "_collisions") + os.path.sep
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if not os.path.exists(output_path):
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os.mkdir(output_path)
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test_list = [
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CollisionScenarioTester(TwoSpawnedCars(client, world, True), output_path),
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CollisionScenarioTester(TwoCarsSlowSpeedCollision(client, world, True), output_path),
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CollisionScenarioTester(TwoCarsHighSpeedCollision(client, world, True), output_path),
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CollisionScenarioTester(CarBikeCollision(client, world, True), output_path),
|
|
CollisionScenarioTester(CarWalkerCollision(client, world, True), output_path),
|
|
CollisionScenarioTester(ThreeCarsSlowSpeedCollision(client, world, True), output_path),
|
|
CollisionScenarioTester(ThreeCarsHighSpeedCollision(client, world, True), output_path),
|
|
]
|
|
|
|
repetitions = 10
|
|
for item in test_list:
|
|
print("--------------------------------------------------------------")
|
|
#item.test_scenario(20, 20, repetitions)
|
|
#item.test_scenario(20, 40, repetitions)
|
|
#item.test_scenario(20, 60, repetitions)
|
|
#item.test_scenario(20, 80, repetitions)
|
|
out = item.test_scenario(20, 100, repetitions)
|
|
print(out)
|
|
|
|
print("--------------------------------------------------------------")
|
|
|
|
# Remove all the output files
|
|
#shutil.rmtree(path)
|
|
|
|
|
|
finally:
|
|
world.apply_settings(pre_settings)
|
|
|
|
|
|
|
|
if __name__ == "__main__":
|
|
|
|
argparser = argparse.ArgumentParser(
|
|
description=__doc__)
|
|
argparser.add_argument(
|
|
'--host',
|
|
metavar='H',
|
|
default='localhost',
|
|
help='IP of the host CARLA Simulator (default: localhost)')
|
|
argparser.add_argument(
|
|
'-p', '--port',
|
|
metavar='P',
|
|
default=2000,
|
|
type=int,
|
|
help='TCP port of CARLA Simulator (default: 2000)')
|
|
argparser.add_argument(
|
|
'--filter',
|
|
metavar='PATTERN',
|
|
default='model3',
|
|
help='actor filter (default: "vehicle.*")')
|
|
# argparser.add_argument(
|
|
# '-fps', '--fps',
|
|
# metavar='FPS',
|
|
# default=20,
|
|
# type=int,
|
|
# help='Frames per simulatation second (default: 20)')
|
|
# argparser.add_argument(
|
|
# '-phys_fps', '--phys_fps',
|
|
# metavar='PHYSFPS',
|
|
# default=100,
|
|
# type=int,
|
|
# help='Target physical frames per simulatation second, it will \
|
|
# divide the dt in substeps if required to get more precision. (default: 100)')
|
|
args = argparser.parse_args()
|
|
|
|
try:
|
|
main(args)
|
|
except KeyboardInterrupt:
|
|
print(' - Exited by user.')
|