def _joust(wkc: AckermannChassis, bkc: AckermannChassis, steps, throttle=1):
collisions = ([], [])
for _ in range(steps):
wkc.control(throttle)
bkc.control(throttle)
bkc._client.stepSimulation()
collisions[0].extend(wkc.contact_points)
collisions[1].extend(bkc.contact_points)
return collisions
def step_with_vehicle_commands(
bv: AckermannChassis, steps, throttle=0, brake=0, steering=0
):
collisions = []
for _ in range(steps):
bv.control(throttle, brake, steering)
bv._client.stepSimulation()
collisions.extend(bv.contact_points)
return collisions
def test_collision_joust(bullet_client: bc.BulletClient):
"""Run two agents at each other to test for clipping."""
white_knight_chassis = AckermannChassis(
Pose.from_center([10, 0, 0], Heading(math.pi * 0.5)), bullet_client
)
black_knight_chassis = AckermannChassis(
Pose.from_center([-10, 0, 0], Heading(-math.pi * 0.5)), bullet_client
)
wkc_collisions, bkc_collisions = _joust(
white_knight_chassis, black_knight_chassis, steps=10000
)
assert len(wkc_collisions) > 0
assert len(bkc_collisions) > 0
assert white_knight_chassis.bullet_id in [c.bullet_id for c in bkc_collisions]
assert black_knight_chassis.bullet_id in [c.bullet_id for c in wkc_collisions]
def vehicle(bullet_client, TIMESTEP_SEC=time_step):
pose = Pose.from_center((0, 0, 0), Heading(0))
vehicle1 = Vehicle(
id="vehicle",
pose=pose,
showbase=mock.MagicMock(),
chassis=AckermannChassis(
pose=pose,
bullet_client=bullet_client,
),
)
return vehicle1
def vehicle(bullet_client, vehicle_controller_file, timestep_sec=time_step):
pose = Pose.from_center((0, 0, 0), Heading(0))
vehicle1 = Vehicle(
id="vehicle",
pose=pose,
chassis=AckermannChassis(
pose=pose,
bullet_client=bullet_client,
vehicle_filepath=vehicle_controller_file[0],
controller_parameters=vehicle_controller_file[1],
),
)
return vehicle1
def test_collision_collide_with_standing_vehicle(bullet_client: bc.BulletClient):
"""Run a vehicle at a standing vehicle as fast as possible."""
chassis = AckermannChassis(
Pose.from_center([10, 0, 0], Heading(math.pi * 0.5)), bullet_client
)
b_chassis = BoxChassis(
Pose.from_center([0, 0, 0], Heading(0)),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=chassis._client,
)
collisions = step_with_vehicle_commands(chassis, steps=1000, throttle=1, steering=0)
assert len(collisions) > 0
assert b_chassis.bullet_id in [c.bullet_id for c in collisions]
def test_collision(bullet_client: bc.BulletClient):
"""Spawn overlap to check for the most basic collision"""
chassis = AckermannChassis(
Pose.from_center([0, 0, 0], Heading(-math.pi * 0.5)), bullet_client)
b_chassis = BoxChassis(
Pose.from_center([0, 0, 0], Heading(0)),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=chassis._client,
)
collisions = step_with_vehicle_commands(chassis, steps=1)
assert b_chassis.bullet_id in [c.bullet_id for c in collisions]
assert len(collisions) > 0
def test_non_collision(bullet_client: bc.BulletClient):
"""Spawn without overlap to check for the most basic collision"""
GROUND_ID = 0
chassis = AckermannChassis(
Pose.from_center([0, 0, 0], Heading(-math.pi * 0.5)), bullet_client)
b_chassis = BoxChassis(
Pose.from_center([0, 10, 0], Heading(0)),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=chassis._client,
)
collisions = step_with_vehicle_commands(chassis, steps=1)
collided_bullet_ids = [c.bullet_id for c in collisions]
assert b_chassis.bullet_id not in collided_bullet_ids
assert (len(collisions) == 0 or len(collided_bullet_ids) == 1
and GROUND_ID in set(collided_bullet_ids))
# erp=0.1,
# contactERP=0.1,
# frictionERP=0.1,
)
path = Path(__file__).parent / "../smarts/core/models/plane.urdf"
path = str(path.absolute())
plane_body_id = client.loadURDF(path, useFixedBase=True)
client.changeDynamics(plane_body_id, -1, **frictions(sliders))
pose = pose = Pose.from_center((0, 0, 0), Heading(0))
vehicle = Vehicle(
id="vehicle",
chassis=AckermannChassis(
pose=pose,
bullet_client=client,
),
)
run(
client,
vehicle,
plane_body_id,
sliders,
n_steps=int(1e6),
)
except Exception as e:
print(e)
# Uncomment for calculating the acceleration
# ax=[(x-vel[i-1])/TIMESTEP_SEC for i, x in enumerate(vel)][1:]
plt.figure(1)
# contactERP=0.1,
# frictionERP=0.1,
)
path = Path(__file__).parent / "../smarts/core/models/plane.urdf"
path = str(path.absolute())
plane_body_id = client.loadURDF(path, useFixedBase=True)
client.changeDynamics(plane_body_id, -1, **frictions(sliders))
pose = pose = Pose.from_center((0, 0, 0), Heading(0))
vehicle = Vehicle(
"hello",
chassis=AckermannChassis(
pose=pose,
bullet_client=client,
tire_parameters_filepath="../../smarts/core/models/tire_parameters.yaml",
),
)
run(
client,
vehicle,
plane_body_id,
sliders,
n_steps=int(1e6),
)
except Exception as e:
print(e)
# plt.plot(xx,yy)
# plt.plot(time, speed)
def test_ackerman_chassis_size_unchanged(bullet_client: bc.BulletClient):
"""Test that the ackerman chassis size has not changed accidentally by packing it around itself
with no forces and then check for collisions after a few steps."""
bullet_client.setGravity(0, 0, 0)
separation_for_collision_error = 0.05
original_vehicle_dimensions = VEHICLE_CONFIGS["passenger"].dimensions
shared_heading = Heading(0)
chassis = AckermannChassis(Pose.from_center([0, 0, 0], shared_heading),
bullet_client)
chassis_n = BoxChassis(
Pose.from_center(
[
0,
(original_vehicle_dimensions.length +
separation_for_collision_error),
0,
],
shared_heading,
),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=bullet_client,
)
chassis_e = BoxChassis(
Pose.from_center(
[
(original_vehicle_dimensions.width +
separation_for_collision_error),
0,
0,
],
shared_heading,
),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=bullet_client,
)
chassis_s = BoxChassis(
Pose.from_center(
[
0,
-(original_vehicle_dimensions.length +
separation_for_collision_error),
0,
],
shared_heading,
),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=bullet_client,
)
chassis_w = BoxChassis(
Pose.from_center(
[
-(original_vehicle_dimensions.width +
separation_for_collision_error),
0,
0,
],
shared_heading,
),
speed=0,
dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
bullet_client=bullet_client,
)
collisions = step_with_vehicle_commands(chassis, steps=10)
assert len(collisions) < 1
)
path = Path(__file__).parent / "../smarts/core/models/plane.urdf"
path = str(path.absolute())
plane_body_id = client.loadURDF(path, useFixedBase=True)
client.changeDynamics(plane_body_id, -1, **frictions(sliders))
pose = pose = Pose.from_center((0, 0, 0), Heading(0))
vehicle = Vehicle(
"hello",
pose=pose,
showbase=showbase,
chassis=AckermannChassis(
pose=pose,
bullet_client=client,
tire_parameters_filepath=
"/home/kyber/MainProjectSMARTS/SMARTS/tools/tire_parameters.yaml",
),
)
run(
showbase,
client,
vehicle,
plane_body_id,
sliders,
n_steps=int(1e6),
)
except Exception as e:
print(e)
# plt.plot(xx,yy)
def chassis(bullet_client):
return AckermannChassis(
Pose.from_center([0, 0, 0], Heading(math.pi * 0.5)), bullet_client)