def getStrangeScenario():
beamNGPAth = getBeamngDirectory()
beamng = BeamNGpy(
'localhost', 64256,
home=beamNGPAth) # This is the host & port used to communicate over
wallCrashScenario = Scenario('smallgrid', 'road_test')
wall = StaticObject(
name="Crash_Test_Wall",
pos=(10, 0, 0),
rot=(0, 0, 0),
scale=(1, 10, 1),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
testRoad = Road('track_editor_A_center', rid='Test_Road')
roadNode = [(-10, 0, 0, 7), (20, 0, 62)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
wallCrashScenario.add_road(testRoad)
wallCrashScenario.add_object(wall)
wallCrashScenario.add_vehicle(testVehicle,
pos=(0, 0, 0),
rot=(0, 180, -90))
scenarioDict = {
'beamng': beamng,
'scenario': wallCrashScenario,
'vehicule': testVehicle
}
return scenarioDict
def getWallCrashScenario(testName):
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
wallCrashScenario = Scenario('smallgrid', str(testName))
wall = StaticObject(
name="Crash_Test_Wall",
pos=(420, 0, 0),
rot=(0, 0, 0),
scale=(1, 10, 75),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
testRoad = Road('track_editor_B_center', rid='Test_Road')
roadNode = [(-2, 0, 0, 7), (420, 0, 0, 7)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model=SelectCar(),
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
wallCrashScenario.add_road(testRoad)
wallCrashScenario.add_object(wall)
wallCrashScenario.add_vehicle(testVehicle, pos=(0, 0, 0), rot=(0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': wallCrashScenario,
'vehicule': testVehicle
}
return scenarioDict
def main():
beamng = BeamNGpy('localhost', 64256,getBeamngDirectory())
scenario = Scenario('smallgrid', 'road_test')
vehicle = Vehicle('LIF_Mobile', model='etkc', licence='LIFLAB', colour='Blue')
ramp = StaticObject(name='pyramp', pos=(250,0, 0), rot=(0, 0, 90), scale=(0.5, 0.5, 0.5),
shape='/levels/west_coast_usa/art/shapes/objects/ramp_massive.dae')
ring = ProceduralRing(name='pyring', pos=(380, 0, 60), rot=(0, 0, 0), radius=5, thickness=2.5)
wall= StaticObject(name="trumps_wall",pos=(420,0,0),rot=(0,0,0), scale=(1,10,75),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
road_c = Road('track_editor_B_center', rid='jump_road')
roadC_Nodes=[(-2,0,0,10),(420,0,0,7)]
road_c.nodes.extend(roadC_Nodes)
scenario.add_road(road_c)
scenario.add_procedural_mesh(ring)
scenario.add_object(ramp)
scenario.add_object(wall)
scenario.add_vehicle(vehicle,(0,0,0),(0,0,-90))
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
input('Press enter when done...')
finally:
bng.close()
import mmap
def getDonutScenario():
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
donutScenario = Scenario('smallgrid', 'road_test')
concreteWallSide1 = StaticObject(
name="Crash_Test_Wall",
pos=(20, 10, 0),
rot=(0, 0, 0),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide2 = StaticObject(
name="Crash_Test_Wall2",
pos=(35, -5, 0),
rot=(0, 0, 90),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide3 = StaticObject(
name="Crash_Test_Wall3",
pos=(20, -20, 0),
rot=(0, 0, 0),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide4 = StaticObject(
name="Crash_Test_Wall4",
pos=(5, -5, 0),
rot=(0, 0, 90),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
testRoad = Road('track_editor_C_center', rid='Test_Road')
roadNode = [(*(-25, 25, 0), 45), (*(15, 25, 0), 45)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
donutScenario.add_vehicle(testVehicle, pos=(20, 0, 0), rot=(0, 0, 0))
donutScenario.add_object(concreteWallSide1)
donutScenario.add_object(concreteWallSide2)
donutScenario.add_object(concreteWallSide3)
donutScenario.add_object(concreteWallSide4)
donutScenario.add_road(testRoad)
scenarioDict = {
'beamng': beamng,
'scenario': donutScenario,
'vehicule': testVehicle
}
return scenarioDict
scenario = Scenario('west_coast_usa', 'fourway_intersection_w_obj')
vut = Vehicle('vut', model='coupe', licence='VUT', colour='Red')
electrics = Electrics()
damage = Damage()
vut.attach_sensor('electrics', electrics)
vut.attach_sensor('damage', damage)
scenario.add_vehicle(vut, pos=(-198.5, -164.189, 119.7), rot=(0, 0, -126.25))
obj_1 = StaticObject(
'obj_1',
pos=(-140, -121.233, 119.586),
rot=(0, 0, 55),
scale=(1, 1, 1),
shape='/levels/west_coast_usa/art/shapes/objects/barrierfence_folk.dae')
scenario.add_object(obj_1)
scenario.make(beamng)
bng = beamng.open(launch=True)
bng.load_scenario(scenario)
bng.start_scenario()
vut.ai_set_mode('span')
vut.ai_drive_in_lane(True)
for _ in range(240):
sleep(0.1)
vut.update_vehicle()
sensors = bng.poll_sensors(vut)
dmg = sensors['damage']
scenario_obj = ScenarioObject(oid='roadblock',
name='sawhorse',
otype='BeamNGVehicle',
pos=(0, -10, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
scale=(1, 1, 1),
JBeam='sawhorse',
datablock="default_vehicle")
scenario_obj = ScenarioObject(oid='qrblock',
name='qrbox',
otype='BeamNGVehicle',
pos=(0, -10, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
scale=(1, 1, 1),
JBeam='qrbox2',
datablock="default_vehicle")
scenario.add_object(scenario_obj)
scenario.make(beamng)
bng = beamng.open()
bng.load_scenario(scenario)
bng.start_scenario()
vehicle = Vehicle('ego_vehicle3', model='etk800', color='White')
bng.spawn_vehicle(vehicle, pos=(0, -20, 0), rot=None, rot_quat=(0, 1, 0, 0))
while (True):
bng.step(1)
beamng = BeamNGpy('localhost', 64256, home='H:/BeamNG.research.v1.7.0.1clean')
scenario = Scenario('west_coast_usa', 'object_placement')
vehicle = Vehicle('ego', model='etk800', licence='PYTHON', color='Green')
scenario.add_vehicle(vehicle,
pos=(-198.5, -164.189, 119.7),
rot=(0, 0, -126.25))
ramp = StaticObject(
name='pyramp',
pos=(277.5, 183.5, 118.75),
rot=(0, 0, 55),
scale=(1, 1, 1),
shape='/levels/west_coast_usa/art/shapes/objects/ramp_massive.dae')
scenario.add_object(ramp)
ring = ProceduralRing(name='pyring',
pos=(445, 301, 218),
rot=(0, 0, 100),
radius=5,
thickness=2.5)
scenario.add_procedural_mesh(ring)
cam_pos = (391.5, 251, 197.8)
cam_dir = (445 - cam_pos[0], 301 - cam_pos[1], 208 - cam_pos[2])
cam = Camera(cam_pos,
cam_dir,
60, (2048, 2048),
near_far=(1, 4000),
colour=True)
def main():
setup_logging()
beamng = BeamNGpy('localhost', 64256)
scenario = Scenario('smallgrid', 'test_quat')
vehicle = Vehicle('ego_vehicle',
model='etk800',
color='Blue',
licence="angle")
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
vehicle = Vehicle('ego_vehicle2',
model='etk800',
color='Green',
license="quat")
scenario.add_vehicle(vehicle,
pos=(5, 0, 0),
rot_quat=(-0.00333699025, -0.00218820246,
-0.689169466, 0.724589229))
rb = ScenarioObject(oid='roadblock',
name='sawhorse',
otype='BeamNGVehicle',
pos=(-10, -5, 0),
rot=(0, 0, 0),
scale=(1, 1, 1),
JBeam='sawhorse',
datablock="default_vehicle")
scenario.add_object(rb)
cn = ScenarioObject(oid='cones',
name='cones',
otype='BeamNGVehicle',
pos=(0, -5, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
scale=(1, 1, 1),
JBeam='cones',
datablock="default_vehicle")
scenario.add_object(cn)
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
input('Press Enter to spawn vehicle during sim with rot and rotquat')
vehicle = Vehicle('ego_vehicle3', model='etk800', color='White')
bng.spawn_vehicle(vehicle, (-10, 0, 0), (0, 0, 0))
vehicle = Vehicle('ego_vehicle4', model='pickup')
pos = (-15, 0, 0)
bng.spawn_vehicle(vehicle, pos, None, rot_quat=(0, 0, 0, 1))
input('press Enter to teleport last vehicle with angle')
bng.teleport_vehicle(vehicle, pos, rot=(0, 45, 0))
input('press Enter to teleport last vehicle with quaternion')
bng.teleport_vehicle(vehicle,
pos,
rot_quat=(-0.00333699025, -0.00218820246,
-0.689169466, 0.724589229))
input('press Enter to teleport roadblock with angle')
bng.teleport_scenario_object(rb, (-10, 5, 0), rot=(-45, 0, 0))
input('press Enter to teleport roadblock with quaternion')
bng.teleport_scenario_object(rb, (-10, 5, 0),
rot_quat=(-0.003337, -0.0021882,
-0.6891695, 0.7245892))
input('Press ENTER to exit')
finally:
bng.close()
def test_quats(beamng):
with beamng as bng:
setup_logging()
scenario = Scenario('smallgrid', 'test_quat')
blue_etk = Vehicle('ego_vehicle',
model='etk800',
color='Blue',
licence="angle")
scenario.add_vehicle(blue_etk, pos=(0, 0, 0), rot=(0, 0, 0))
blue_etk = Vehicle('ego_vehicle2',
model='etk800',
color='Green',
license="quat")
rot_quat = (-0.00333699025, -0.00218820246, -0.689169466, 0.724589229)
scenario.add_vehicle(blue_etk, pos=(5, 0, 0), rot_quat=rot_quat)
rb = ScenarioObject(oid='roadblock',
name='sawhorse',
otype='BeamNGVehicle',
pos=(-10, -5, 0),
rot=(0, 0, 0),
scale=(1, 1, 1),
JBeam='sawhorse',
datablock="default_vehicle")
scenario.add_object(rb)
cn = ScenarioObject(oid='cones',
name='cones',
otype='BeamNGVehicle',
pos=(0, -5, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
scale=(1, 1, 1),
JBeam='cones',
datablock="default_vehicle")
scenario.add_object(cn)
scenario.make(beamng)
bng.load_scenario(scenario)
bng.start_scenario()
white_etk = Vehicle('ego_vehicle3', model='etk800', color='White')
bng.spawn_vehicle(white_etk, (-10, 0, 0), (0, 0, 0))
pickup = Vehicle('ego_vehicle4', model='pickup')
pos = (-15, 0, 0)
bng.spawn_vehicle(pickup, pos, None, rot_quat=(0, 0, 0, 1))
resp = bng.get_current_vehicles()
assert len(resp) == 6
pickup.connect(bng)
pickup.poll_sensors()
pos_before = pickup.state['pos']
bng.teleport_vehicle(pickup.vid, pos, rot=(0, 45, 0))
pickup.poll_sensors()
pos_after = pickup.state['pos']
assert (pos_before != pos_after)
pickup.poll_sensors()
pos_before = pickup.state['pos']
rot_quat = (-0.00333699025, -0.00218820246, -0.689169466, 0.724589229)
bng.teleport_vehicle(pickup.vid, pos, rot_quat=rot_quat)
pickup.poll_sensors()
pos_after = pickup.state['pos']
assert (pos_before != pos_after)
try:
bng.teleport_scenario_object(rb, (-10, 5, 0), rot=(-45, 0, 0))
assert True
except socket.timeout:
assert False
try:
rot_quat = (-0.003337, -0.0021882, -0.6891695, 0.7245892)
bng.teleport_scenario_object(rb, (-10, 5, 0), rot_quat=rot_quat)
assert True
except socket.timeout:
assert False
from beamngpy import BeamNGpy, Scenario, Vehicle, StaticObject
import numpy as np
from time import sleep, time
beamng = BeamNGpy('localhost', 64256, home = r'C:\BeamNG_unlimited\trunk' )
vehicle = Vehicle('ego', model='etk800', licence='PYTHON', colour='Green')
scenario = Scenario('west_coast_usa', 'ai_sine')
# scenario.add_vehicle(vehicle, pos=(-198.5, -164.189, 119.7), rot=(0, 0, -126.25))
scenario.add_vehicle(vehicle, pos=(-24.8179, -37.308, 119.86), rot=(0, 0, -126.25))
# so = StaticObject('stato', pos=(-140, -121.233, 119.586), rot=(0, 0, 55), scale=(1, 1, 1), shape='/levels/west_coast_usa/art/shapes/objects/barrierfence_folk.dae')
so = StaticObject('stato', pos=(2.91697, -12.596, 119.58), rot=(0, 0, 55), scale=(1, 1, 1), shape='/levels/west_coast_usa/art/shapes/objects/barrierfence_folk.dae')
scenario.add_object(so)
scenario.make(beamng)
bng = beamng.open()
bng.load_scenario(scenario)
bng.start_scenario()
vehicle.ai_set_mode('span')
vehicle.ai_drive_in_lane(True)
# scenario.update()
dist_buffer = 0
for _ in range(240):
sleep(0.1)
scenario.update()
distance = np.linalg.norm(np.array(vehicle.state['pos']) - np.array([2.91697, -12.596, 119.58]))
vehicle.update_vehicle()
print(distance)
# # scenario.update()
# vehicle.update_vehicle()
def add_obstacles_to_scenario(self, scenario: Scenario) -> None:
from beamngpy import ProceduralCone, ProceduralCube, ProceduralCylinder, ProceduralBump, StaticObject
from dbtypes.scheme import Cone, Cube, Cylinder, Bump, Stopsign, TrafficLightSingle, TrafficLightDouble
from random import randrange
for obstacle in self.obstacles:
obstacle_type = type(obstacle)
height = obstacle.height
pos = (obstacle.x, obstacle.y, height / 2.0)
rot = (obstacle.x_rot, obstacle.y_rot, obstacle.z_rot)
name = obstacle.oid
mesh = None
if obstacle_type is Cube:
mesh = ProceduralCube(
pos,
rot, (obstacle.length, obstacle.width, height),
name=name)
elif obstacle_type is Cylinder:
mesh = ProceduralCylinder(pos,
rot,
obstacle.radius,
height=height,
name=name)
elif obstacle_type is Cone:
mesh = ProceduralCone(pos,
rot,
obstacle.base_radius,
height,
name=name)
elif obstacle_type is Bump:
mesh = ProceduralBump(pos,
rot,
obstacle.width,
obstacle.length,
height,
obstacle.upper_length,
obstacle.upper_width,
name=name)
elif obstacle_type is Stopsign:
id_number = randrange(1000)
name_sign = "stopsign" + str(id_number)
stopsign = StaticObject(
pos=(obstacle.x, obstacle.y, 0),
rot=rot,
name=name_sign,
scale=(3, 3, 3),
shape='/levels/drivebuild/art/objects/stopsign.dae')
scenario.add_object(stopsign)
elif obstacle_type is TrafficLightSingle:
id_number = randrange(1000)
name_light = "trafficlight" + str(id_number)
name_pole = "pole" + str(id_number)
traffic_light = StaticObject(
name=name_light,
pos=(obstacle.x, obstacle.y, 5.32),
rot=rot,
scale=(1, 1, 1),
shape='/levels/drivebuild/art/objects/trafficlight1a.dae')
scenario.add_object(traffic_light)
pole = StaticObject(
name=name_pole,
pos=(obstacle.x, obstacle.y, 0),
rot=rot,
scale=(1, 1, 1.3),
shape='/levels/drivebuild/art/objects/pole_traffic1.dae')
scenario.add_object(pole)
elif obstacle_type is TrafficLightDouble:
from math import radians, sin, cos
from numpy import dot
id_number = randrange(1000)
name_light1 = "trafficlight" + str(id_number)
name_light2 = "trafficlight" + str(id_number) + 'a'
name_pole = "pole" + str(id_number)
rad = radians(obstacle.z_rot)
pole_coords = (obstacle.x, obstacle.y, 0)
traffic_light1_coords = (7.5, 0.35)
traffic_light2_coords = (3, 0.35)
rot_matrix = [[cos(rad), sin(rad)], [-sin(rad), cos(rad)]]
traffic_light1_coords = dot(rot_matrix, traffic_light1_coords)
traffic_light1_coords = (traffic_light1_coords[0] +
pole_coords[0],
traffic_light1_coords[1] +
pole_coords[1], 7.8)
traffic_light2_coords = dot(rot_matrix, traffic_light2_coords)
traffic_light2_coords = (traffic_light2_coords[0] +
pole_coords[0],
traffic_light2_coords[1] +
pole_coords[1], 7.3)
pole2 = StaticObject(
name=name_pole,
pos=pole_coords,
rot=rot,
scale=(1, 1, 1),
shape=
'/levels/drivebuild/art/objects/pole_light_signal1.dae')
scenario.add_object(pole2)
traffic_light1 = StaticObject(
name=name_light1,
pos=traffic_light1_coords,
rot=rot,
scale=(1, 1, 1),
shape='/levels/drivebuild/art/objects/trafficlight2a.dae')
scenario.add_object(traffic_light1)
traffic_lights2 = StaticObject(
name=name_light2,
pos=traffic_light2_coords,
rot=rot,
scale=(1, 1, 1),
shape='/levels/drivebuild/art/objects/trafficlight2a.dae')
scenario.add_object(traffic_lights2)
else:
_logger.warning("Obstacles of type " + str(obstacle_type) +
" are not supported by the generation, yet.")
mesh = None
if mesh:
# NOTE Procedural meshes use radians for rotation
scenario.add_procedural_mesh(mesh)
