def __init__(self, beamng: BeamNGpy, name: str, camera: Camera = None):
self.name = name
self.pose: BeamNGPose = BeamNGPose()
self.camera = camera
if not self.camera:
self.camera = Camera((0, 0, 0), (0, 0, 0), 120, (1280, 1280), colour=True, depth=True, annotation=True)
self.beamng = beamng
def __init__(self, road_nodes: List4DTuple = None, beamng_home=None, beamng_user=None):
self.beamng = BeamNGpy('localhost', 64256, home=beamng_home, user=beamng_user)
self.vehicle: Vehicle = None
self.camera: BeamNGCamera = None
if road_nodes:
self.setup_road_nodes(road_nodes)
steps = 5
self.params = SimulationParams(beamng_steps=steps, delay_msec=int(steps * 0.05 * 1000))
self.vehicle_start_pose = BeamNGPose()
def vehicle_start_pose(self, meters_from_road_start=2.5, road_point_index=0) \
-> BeamNGPose:
assert self.n > road_point_index, f'road length is {self.n} it does not have index {road_point_index}'
p1 = self.middle[road_point_index]
p1r = self.right[road_point_index]
p2 = self.middle[road_point_index + 1]
p2v = np.subtract(p2[0:2], p1[0:2])
v = (p2v / np.linalg.norm(p2v)) * meters_from_road_start
origin = np.add(p1[0:2], p1r[0:2]) / 2
deg = np.degrees(np.arctan2([-v[0]], [-v[1]]))
res = BeamNGPose(pos=tuple(origin + v) + (p1[2], ), rot=(0, 0, deg[0]))
return res
def __init__(self,
beamng_home=None,
beamng_user=None,
reuse_beamng=True,
road_nodes: List4DTuple = None):
self.reuse_beamng = reuse_beamng
if self.reuse_beamng:
# This represents the running BeamNG simulator. Since we use launch=True this should automatically
# shut down when the main python process exits or when we call self.beamng_process.stop()
self.beamng_process = BeamNGpy('localhost',
64256,
home=beamng_home,
user=beamng_user)
self.beamng_process = self.beamng_process.open(launch=True)
# This is used to bring up each simulation without restarting the simulator
self.beamng = BeamNGpy('localhost',
64256,
home=beamng_home,
user=beamng_user)
# We need to wait until this point otherwise the BeamNG loggers's level will be (re)configured by BeamNGpy
log.info("Disabling BEAMNG logs")
for id in [
"beamngpy", "beamngpy.beamngpycommon", "beamngpy.BeamNGpy",
"beamngpy.beamng", "beamngpy.Scenario", "beamngpy.Vehicle"
]:
logger = log.getLogger(id)
logger.setLevel(log.CRITICAL)
logger.disabled = True
self.vehicle: Vehicle = None
self.camera: BeamNGCamera = None
if road_nodes:
self.setup_road_nodes(road_nodes)
steps = 5
self.params = SimulationParams(beamng_steps=steps,
delay_msec=int(steps * 0.05 * 1000))
self.vehicle_start_pose = BeamNGPose()