def test_vehicle_ai(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('west_coast_usa', 'ai_test')
vehicle = Vehicle('test_car', model='etk800')
other = Vehicle('other', model='etk800')
pos = [-717.121, 101, 118.675]
scenario.add_vehicle(vehicle, pos=pos, rot=(0, 0, 45))
scenario.add_vehicle(other, pos=(-453, 700, 75), rot=(0, 0, 45))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.ai_set_mode('span')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_waypoint('Bridge4_B')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='chase')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='flee')
assert_continued_movement(bng, vehicle, pos)
scenario.delete(beamng)
def test_vehicle_ai(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('west_coast_usa', 'ai_test')
vehicle = Vehicle('test_car', model='etk800')
other = Vehicle('other', model='etk800')
pos = [-717.121, 101, 118.675]
scenario.add_vehicle(vehicle, pos=pos, rot=(0, 0, 45))
scenario.add_vehicle(other, pos=(-453, 700, 75), rot=(0, 0, 45))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.ai_set_mode('span')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_waypoint('Bridge4_B')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='chase')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='flee')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
script = [
{
'x': -735,
'y': 86.7,
'z': 119,
't': 0
},
{
'x': -752,
'y': 70,
'z': 119,
't': 5
},
{
'x': -762,
'y': 60,
'z': 119,
't': 8
},
]
vehicle.ai_set_script(script)
bng.step(600, wait=True)
vehicle.update_vehicle()
ref = [script[1]['x'], script[1]['y'], script[1]['z']]
pos = vehicle.state['pos']
ref, pos = np.array(ref), np.array(pos)
assert np.linalg.norm(ref - pos) < 2.5
scenario.delete(beamng)
scenario.make(bng)
# Launch BeamNG.research
bng.open()
# Load and start our scenario
bng.load_scenario(scenario)
bng.start_scenario()
# skt = bng.start_server()
# Make the vehicle's AI span the map
# vehicle.ai_set_mode('span')
# vehicle.connect(bng, skt.host, skt.port)
# ai_vehicle.connect(bng, skt.host, skt.port)
# ai_vehicle.ai_set_target(target=str(vehicle.vid))
ai_vehicle.ai_set_mode('manual')
ai_vehicle.ai_set_target(target=str(wood_obj.vid))
# print(ai_vehicle.options)
log.debug("State of the vehicle: " + str(ai_vehicle.state))
if int(vehicle.state['pos'][0]) in range(int(ai_vehicle.state['pos'][0]),
int(ai_vehicle.state['pos'][0]) + 10):
print(
'Good!sfgshjkssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss'
)
# ai_vehicle.state[0] = -700
ai_vehicle.ai_set_mode('stopping')
log.debug('Super!')
# vehicle.update_vehicle()
def run_scenario_ai_version(vehicle_model='etk800',
deflation_pattern=[0, 0, 0, 0],
parts_config=None):
global base_filename, default_color, default_scenario, default_spawnpoint, setpoint, steps_per_sec
global prev_error
random.seed(1703)
setup_logging()
beamng = BeamNGpy('localhost',
64256,
home='H:/BeamNG.research.v1.7.0.1clean',
user="******")
scenario = Scenario(default_scenario, 'research_test')
vehicle = Vehicle('ego_vehicle',
model=vehicle_model,
licence='AI',
color=default_color)
vehicle = setup_sensors(vehicle)
spawn = get_spawn_point(default_scenario, default_spawnpoint)
# scenario.add_vehicle(vehicle, pos=spawn['pos'], rot=None, rot_quat=spawn['rot_quat'])
# Compile the scenario and place it in BeamNG's map folder
scenario.make(beamng)
# Start BeamNG and enter the main loop
bng = beamng.open(launch=True)
bng.set_deterministic() # Set simulator to be deterministic
bng.set_steps_per_second(steps_per_sec) # With 100hz temporal resolution
# Load and start the scenario
bng.load_scenario(scenario)
bng.start_scenario()
# create vehicle to be chased
chase_vehicle = Vehicle('chase_vehicle',
model='miramar',
licence='CHASEE',
color='Red')
bng.spawn_vehicle(chase_vehicle,
pos=(469.784, 346.391, 144.982),
rot=None,
rot_quat=(-0.0037852677050978, -0.0031219546217471,
-0.78478640317917, 0.61974692344666))
bng.spawn_vehicle(vehicle,
pos=spawn['pos'],
rot=None,
rot_quat=spawn['rot_quat'],
partConfig=parts_config)
# Put simulator in pause awaiting further inputs
bng.pause()
assert vehicle.skt
#bng.resume()
# perturb vehicle
print("vehicle position before deflation via beamstate:{}".format(
vehicle.get_object_position()))
print("vehicle position before deflation via vehicle state:{}".format(
vehicle.state))
image = bng.poll_sensors(vehicle)['front_cam']['colour'].convert('RGB')
plt.imshow(image)
plt.pause(0.01)
vehicle.deflate_tires(deflation_pattern)
bng.step(steps_per_sec * 6)
vehicle.update_vehicle()
# print("vehicle position after deflation via beamstate:{}".format(vehicle.get_object_position()))
# print("vehicle position after deflation via vehicle state:{}".format(vehicle.state))
pitch = vehicle.state['pitch'][0]
roll = vehicle.state['roll'][0]
z = vehicle.state['pos'][2]
image = bng.poll_sensors(vehicle)['front_cam']['colour'].convert('RGB')
plt.imshow(image)
plt.pause(0.01)
bng.resume()
vehicle.ai_set_mode('chase')
vehicle.ai_set_target('chase_vehicle')
vehicle.ai_drive_in_lane(True)
damage_prev = None
runtime = 0.0
traj = []
kphs = []
for _ in range(650):
image = bng.poll_sensors(vehicle)['front_cam']['colour'].convert('RGB')
damage = bng.poll_sensors(vehicle)['damage']
wheelspeed = bng.poll_sensors(vehicle)['electrics']['wheelspeed']
new_damage = diff_damage(damage, damage_prev)
damage_prev = damage
runtime = bng.poll_sensors(vehicle)['timer']['time']
vehicle.update_vehicle()
traj.append(vehicle.state['pos'])
kphs.append(ms_to_kph(wheelspeed))
if new_damage > 0.0:
break
bng.step(5)
bng.close()
results = {
'runtime': round(runtime, 3),
'damage': damage,
'kphs': kphs,
'traj': traj,
'pitch': round(pitch, 3),
'roll': round(roll, 3),
"z": round(z, 3),
'final_img': image
}
return results
