def main():
sim_host_ip = "127.0.0.1" # of your local machine running sim
sim_host_port = 8181
sim_map = "CubeTown"
ego_car_model = "Jaguar2015XE (Autoware)" # Lexus2016RXHybrid (Autoware)
ros_bridge_ip = "192.168.1.127" # of the ros machine that runs the websocket_server
ros_bridge_port = 9090
time_limit = 0 # 0 means unlimited time otherwise sim will produce this much data in virtual seconds
time_scale = 1 # 1 means normal speed, 1.5 means 1.5x speed
ego_pos = Vector(-22, 0, 59.9)
ego_roll = 0
ego_pitch = 0
ego_yaw = 250
ego_rot = Vector(ego_pitch, ego_yaw, ego_roll)
ego_tf = Transform(ego_pos, ego_rot)
ego_v = Vector(0, 0, 0)
ego_ang_v = Vector(0, 0, 0)
ego_state = ObjectState(ego_tf, ego_v, ego_ang_v)
no_of_npc = 0
spawn_idx = 0
spawn_pos = Vector(-32.6, 0, 45)
spawn_tf = Transform(spawn_pos)
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", sim_host_ip),
sim_host_port)
initScene(sim, sim_map, ego_car_model, ego_state, ros_bridge_ip,
ros_bridge_port, spawn_idx)
# addNpcRandomAtlanes(sim, no_of_npc, spawn_idx, ego_tf)
spawns = sim.get_spawn()
state = lgsvl.AgentState()
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])
# 10 meters ahead, on left lane
state.transform.position = spawns[0].position + 45.0 * forward + 2 * right
state.transform.rotation = spawns[0].rotation
addNpcAtFixedPoints(sim, state, 0.0, False)
# state.transform.position = spawns[0].position + 45.0 * forward - 7 * right
# state.transform.rotation = spawns[0].rotation + Vector(0, 180, 0)
# addNpcAtFixedPoints(sim, state, 0.0, False)
# start the sim
input("Press Enter to run simulation")
sim.run(time_limit, time_scale)
def set_state_relative_obj(self, state: ObjectState, forward: float,
right: float, yaw: float) -> ObjectState:
forward_dir_obj = lgsvl.utils.transform_to_forward(state)
right_dir_obj = lgsvl.utils.transform_to_right(state)
state.transform.position += \
forward * forward_dir_obj + right * right_dir_obj
state.transform.rotation += Vector(0, yaw, 0)
return state
def test_EGO_respond_SCHOOLBUS_with_crash(self):
sim_connection = SimConnection(scene="CubeTown")
scenario = SchoolBus(
sim_connection=sim_connection,
ego_target=Vector(3.03013730049133, -0.00637590885162354,
-16.5673313140869),
ego_speed=7,
ego_brake=0,
npc_speed=6,
npc_source=Vector(-3.84999561309814, -0.00320455431938171,
10.877103805542),
npc_target=Vector(3.03013730049133, -0.00320455431938171,
-5.877103805542),
)
try:
scenario.run()
except Exception:
sim_connection.sim.close()
self.fail("Failed!")
# Passed!
sim_connection.sim.close()
self.assertTrue(True, True)
def test_finding_ego_speed_to_avoid_encroaching_schoolbus_speed_6(self):
def setup_cars(sim_connection: SimConnection, ego_speed: float,
npc_speed: float):
lgsvl_sim = sim_connection.connect()
# Placing the school_bus
school_bus_state = spawn_state(lgsvl_sim)
school_bus = load_npc(lgsvl_sim, "SchoolBus", school_bus_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(
dimension="horizontal", distance=-6, state=ego_state)
ego_state = CarControl.drive_ego_car(ego_state,
[("vertical", ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
return {
"school_bus": school_bus,
"ego": ego,
}
school_bus_wps = [
Vector(-3.31942486763, -0.0809718370437622, 24.2049713134766),
Vector(-3.84999561309814, -0.00320455431938171, 14.877103805542),
Vector(3.84999561309814, -0.00320455431938171, -20.877103805542)
]
npc_speed = 6
ego_speed = 6
encroaching = Encroaching(
npc_speed=npc_speed,
ego_speed=ego_speed,
sim_connection=SimConnection(scene="CubeTown"),
step=1,
setup_vehicles=setup_cars,
npc_waypoints=school_bus_wps)
encroaching.run()
self.assertEqual(8.0, encroaching.ego_speed)
def main():
sim_host_ip = "127.0.0.1" # of your local machine running sim
sim_host_port = 8181
sim_map = "Shalun"
ego_car_model = "Lexus2016RXHybrid (Autoware)" # Jaguar2015XE (Autoware)
ros_bridge_ip = "192.168.1.100" # of the ros machine that runs the websocket_server
ros_bridge_port = 9090
time_limit = 0 # 0 means unlimited time otherwise sim will produce this much data in virtual seconds
time_scale = 0.5 # 1 means normal speed, 1.5 means 1.5x speed
ego_pos = Vector(-32.6, 0, 45)
ego_roll = 0
ego_pitch = 0
ego_yaw = 160
ego_rot = Vector(ego_pitch, ego_yaw, ego_roll)
ego_tf = Transform(ego_pos, ego_rot)
ego_v = Vector(0, 0, 0)
ego_ang_v = Vector(0, 0, 0)
ego_state = ObjectState(ego_tf, ego_v, ego_ang_v)
no_of_npc = 0
spawn_idx = 0
spawn_pos = Vector(-32.6, 0, 45)
spawn_tf = Transform(spawn_pos)
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", sim_host_ip),
sim_host_port)
initScene(sim, sim_map, ego_car_model, ego_state, ros_bridge_ip,
ros_bridge_port, spawn_idx)
addNpcRandomAtlanes(sim, no_of_npc, spawn_idx, spawn_tf)
pedestrian_pos = Vector(-35, 0, 30)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(-16, 0, 34), 5, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-14, 0, 12), 5, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-30, 0, 12), 5, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-30, 0, 30), 5, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
input("Press Enter to run simulation")
sim.run(time_limit, time_scale)
def test_EGO_encroach_schoolbus_speed_6_with_apollo(self):
LGSVL__APOLLO_HOST = config("LGSVL__APOLLO_HOST")
LGSVL__APOLLO_PORT = int(config("LGSVL__APOLLO_PORT"))
LGSVL__DREAMVIEW_HOST = config("LGSVL__DREAMVIEW_HOST")
MODULES = [
'Recorder', 'Localization', 'Perception', 'Transform', 'Routing',
'Prediction', 'Planning', 'Traffic Light', 'Control'
]
TARGET = Vector(3.03013730049133, -0.00637590885162354,
-16.5673313140869)
COLLISIONS = []
SEDAN_WPS = [
Vector(-3.31942486763, -0.0809718370437622, 24.2049713134766),
Vector(-3.84999561309814, -0.00320455431938171, 14.877103805542),
Vector(3.84999561309814, -0.00320455431938171, -20.877103805542)
]
NPC_SPEED = 6
sim_connection = SimConnection(scene="CubeTown")
lgsvl_sim = sim_connection.connect()
# Placing the school_bus
school_bus_state = spawn_state(lgsvl_sim)
school_bus = load_npc(lgsvl_sim, "SchoolBus", school_bus_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-6,
state=ego_state)
# ego_state = CarControl.drive_ego_car(ego_state, [("vertical", 6)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
def on_collision(agent1, agent2, contact):
COLLISIONS.append([agent1, agent2, contact])
sim_connection.sim.close()
print("Exception: {} collided with {}".format(agent1, agent2))
ego.on_collision(on_collision)
school_bus.on_collision(on_collision)
try:
ego.connect_bridge(LGSVL__APOLLO_HOST, LGSVL__APOLLO_PORT)
dv = lgsvl.dreamview.Connection(lgsvl_sim, ego,
LGSVL__DREAMVIEW_HOST)
dv.set_hd_map("CubeTown")
dv.set_vehicle("Lincoln2017MKZ (Apollo 5.0)")
dv.setup_apollo(TARGET.x, TARGET.z, MODULES)
# Start the scenario
school_bus.follow_closest_lane(follow=True, max_speed=10)
waypoints = []
for point in SEDAN_WPS:
waypoints.append(
lgsvl.DriveWaypoint(point, NPC_SPEED,
school_bus.state.transform.rotation))
school_bus.follow(waypoints)
sim_connection.execute(timeout=15)
except Exception:
sim_connection.sim.close()
self.fail("Failed!")
sim_connection.sim.close()
self.assertTrue(True, True)
def set_state_absolute(self, state: ObjectState, x: float, y: float,
z: float, yaw: float) -> ObjectState:
state.transform.position = Vector(x, z, y)
state.transform.rotation = Vector(0, yaw, 0)
return state
def set_state_relative_map(self, state: ObjectState, forward: float,
right: float, yaw: float) -> ObjectState:
state.transform.position += \
forward * self.forward_dir_map + right * self.right_dir_map
state.transform.rotation += Vector(0, yaw, 0)
return state
def test_EGO_exit_with_apollo(self):
LGSVL__APOLLO_HOST = config("LGSVL__APOLLO_HOST")
LGSVL__APOLLO_PORT = int(config("LGSVL__APOLLO_PORT"))
LGSVL__DREAMVIEW_HOST = config("LGSVL__DREAMVIEW_HOST")
MODULES = [
'Recorder', 'Localization', 'Perception', 'Transform', 'Routing',
'Prediction', 'Planning', 'Traffic Light', 'Control'
]
EGO_TARGET = Vector(114.219772338867, -0.003660649061203,
-1.39988207817078)
COLLISIONS = []
# Setup environment
sim_connection = SimConnection()
lgsvl_sim = sim_connection.connect()
NPC_state = spawn_state(lgsvl_sim)
NPC = load_npc(lgsvl_sim, "Sedan", NPC_state)
sedan2_state = spawn_state(lgsvl_sim)
sedan2_state = CarControl.place_car_from_the_point(
dimension="vertical", distance=10, state=sedan2_state)
sedan2 = load_npc(lgsvl_sim, "Sedan", sedan2_state)
sedan3_state = spawn_state(lgsvl_sim)
sedan3_state = CarControl.place_car_from_the_point(
dimension="vertical", distance=15, state=sedan3_state)
sedan3 = load_npc(lgsvl_sim, "Sedan", sedan3_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=5,
state=ego_state)
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
sim_connection.execute(timeout=5, debug=True, vehicles=[ego])
def on_collision(agent1, agent2, contact):
COLLISIONS.append([agent1, agent2, contact])
sim_connection.sim.close()
# print("Exception: {} collided with {}".format(agent1, agent2))
raise Exception()
ego.on_collision(on_collision)
NPC.on_collision(on_collision)
sedan2.on_collision(on_collision)
sedan3.on_collision(on_collision)
try:
ego.connect_bridge(LGSVL__APOLLO_HOST, LGSVL__APOLLO_PORT)
dv = lgsvl.dreamview.Connection(lgsvl_sim, ego,
LGSVL__DREAMVIEW_HOST)
dv.set_hd_map("CubeTown")
dv.set_vehicle("Lincoln2017MKZ (Apollo 5.0)")
dv.setup_apollo(EGO_TARGET.x, EGO_TARGET.z, MODULES)
# Start the scenario
sim_connection.execute(timeout=15)
except Exception:
sim_connection.sim.close()
self.fail("Failed!")
sim_connection.sim.close()
self.assertTrue(True, True)
def main():
sim_host_ip = "127.0.0.1" # of your local machine running sim
sim_host_port = 8181
sim_map = "Shalun"
ego_car_model = "Jaguar2015XE (Autoware)" # Lexus2016RXHybrid (Autoware)
ros_bridge_ip = "192.168.2.18" # of the ros machine that runs the websocket_server
ros_bridge_port = 9090
time_limit = 0 # 0 means unlimited time otherwise sim will produce this much data in virtual seconds
time_scale = 1 # 1 means normal speed, 1.5 means 1.5x speed
ego_pos = Vector(-22, 0, 59.9)
ego_roll = 0
ego_pitch = 0
ego_yaw = 250
ego_rot = Vector(ego_pitch, ego_yaw, ego_roll)
ego_tf = Transform(ego_pos, ego_rot)
ego_v = Vector(0, 0, 0)
ego_ang_v = Vector(0, 0, 0)
ego_state = ObjectState(ego_tf, ego_v, ego_ang_v)
no_of_npc = 5
spawn_idx = 0
spawn_pos = Vector(-32.6, 0, 45)
spawn_tf = Transform(spawn_pos)
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", sim_host_ip),
sim_host_port)
initScene(sim, sim_map, ego_car_model, ego_state, ros_bridge_ip,
ros_bridge_port, spawn_idx)
addNpcRandomAtlanes(sim, no_of_npc, spawn_idx, ego_tf)
pedestrian_idle = 0
pedestrian_pos = Vector(-31, 0, 31)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(-18, 0, 29), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-12, 0, 12), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-18, 0, 29), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-31, 0, 2), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
pedestrian_pos = Vector(-18, 0, 29)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(-35, 0, 30), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-18, 0, 29), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
pedestrian_pos = Vector(-13, 0, 12)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(-18, 0, 29), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-35, 0, 30), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-18, 0, 29), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(-12, 0, 12), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
### OTHER SIDE
pedestrian_pos = Vector(11, 0, -18.5)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(28, 0, -14), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(11, 0, -15), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
pedestrian_pos = Vector(28, 0, -11.5)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(11, 0, -19), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(28, 0, -12), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
pedestrian_pos = Vector(30, 0, -13)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(25, 0, -1), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(30, 0, -13), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
pedestrian_pos = Vector(25, 0, -1)
pedestrian_state = ObjectState(Transform(pedestrian_pos))
waypoints = [
lgsvl.WalkWaypoint(lgsvl.Vector(30, 0, -13), pedestrian_idle, 0),
lgsvl.WalkWaypoint(lgsvl.Vector(25, 0, -1), pedestrian_idle, 0),
]
createPedestrian(sim, pedestrian_state, waypoints)
# PEDESTIRAN NEAR THE VEHICLE TO TEST AVOIDANCE
# pedestrian_pos = Vector(-32, 0, 57.5)
# pedestrian_state = ObjectState(Transform(pedestrian_pos))
# waypoints = [
# lgsvl.WalkWaypoint(lgsvl.Vector(-32, 0, 57.5), 1e10, 0),
# ]
# createPedestrian(sim, pedestrian_state, waypoints)
input("Press Enter to run simulation")
sim.run(time_limit, time_scale)
def main():
sim_host_ip = "127.0.0.1" # of your local machine running sim
sim_host_port = 8181
sim_map = "CubeTown"
ego_car_model = "Jaguar2015XE (Autoware)" # Lexus2016RXHybrid (Autoware)
ros_bridge_ip = "192.168.1.78" # of the ros machine that runs the websocket_server
ros_bridge_port = 9090
time_limit = 0 # 0 means unlimited time otherwise sim will produce this much data in virtual seconds
time_scale = 1 # 1 means normal speed, 1.5 means 1.5x speed
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", sim_host_ip),
sim_host_port)
ego_pos = Vector(-22, 0, 59.9)
ego_roll = 0
ego_pitch = 0
ego_yaw = 250
ego_rot = Vector(ego_pitch, ego_yaw, ego_roll)
ego_tf = Transform(ego_pos, ego_rot)
ego_v = Vector(0, 0, 0)
ego_ang_v = Vector(0, 0, 0)
ego_state = ObjectState(ego_tf, ego_v, ego_ang_v)
no_of_npc = 0
spawn_idx = 0
spawn_pos = Vector(-32.6, 0, 45)
spawn_tf = Transform(spawn_pos)
initScene(sim, sim_map, ego_car_model, ego_state, ros_bridge_ip,
ros_bridge_port, spawn_idx)
# addNpcRandomAtlanes(sim, no_of_npc, spawn_idx, ego_tf)
spawns = sim.get_spawn()
state = lgsvl.AgentState()
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])
state.transform.position = spawns[0].position + 88 * forward + 55 * right
state.transform.rotation = spawns[0].rotation - Vector(0, 90, 0)
npcSpeed = 10
waypoints = [
DriveWaypoint(state.transform.position, npcSpeed,
state.transform.rotation, 0, False, 0),
DriveWaypoint(state.transform.position, npcSpeed,
state.transform.rotation, 20, False, 0)
]
pos = state.transform.position
increment = 100
start = 55
end = -25
for i in range(increment):
pos += (end - start) / increment * right
waypoints.append(
DriveWaypoint(pos, npcSpeed, state.transform.rotation, 0, False,
0))
addNpcAFollowWaypoints(sim, state, waypoints, True)
state.transform.position = spawns[0].position + 94 * forward + -70 * right
state.transform.rotation = spawns[0].rotation + Vector(0, 90, 0)
npcSpeed = 10
waypoints = [
DriveWaypoint(state.transform.position, npcSpeed,
state.transform.rotation, 0, False, 0),
DriveWaypoint(state.transform.position, npcSpeed,
state.transform.rotation, 20, False, 0)
]
pos = state.transform.position
increment = 100
start = -70
end = 50
for i in range(increment):
pos += (end - start) / increment * right
waypoints.append(
DriveWaypoint(pos, npcSpeed, state.transform.rotation, 0, False,
0))
addNpcAFollowWaypoints(sim, state, waypoints, True)
# start the sim
input("Press Enter to run simulation")
sim.run(time_limit, time_scale)
with open('parameters.json') as json_file:
scenario_parameters = json.load(json_file)
# Intersections
ego_intersection_transform = Transform.from_json(scenario_config["ego_intersection"]['transform'])
agent_1_intersection_transform = Transform.from_json(scenario_config["agent_1_intersection"]['transform'])
agent_2_intersection_transform = Transform.from_json(scenario_config["agent_2_intersection"]['transform'])
# Waypoints
with open('waypoints.json') as json_file:
scenario_waypoints = json.load(json_file)
# Agent 1 Way Points
agent_1_waypoints = []
for waypoint in scenario_waypoints['agent_1']:
agent_1_waypoints.append(lgsvl.agent.DriveWaypoint(Vector.from_json(waypoint['position']),
waypoint['speed'],
Vector.from_json(waypoint['angle']),
waypoint['idle'],
waypoint['deactivate'],
waypoint['trigger_distance'],
waypoint['timestamp']))
# Agent 2 Way Points
agent_2_waypoints = []
for waypoint in scenario_waypoints['agent_2']:
agent_2_waypoints.append(lgsvl.agent.DriveWaypoint(Vector.from_json(waypoint['position']),
waypoint['speed'],
Vector.from_json(waypoint['angle']),
waypoint['idle'],
waypoint['deactivate'],
def test_EGO_encroach_NPC_speed_20_with_apollo(self):
LGSVL__APOLLO_HOST = config("LGSVL__APOLLO_HOST")
LGSVL__APOLLO_PORT = int(config("LGSVL__APOLLO_PORT"))
LGSVL__DREAMVIEW_HOST = config("LGSVL__DREAMVIEW_HOST")
MODULES = [
'Recorder', 'Localization', 'Perception', 'Transform', 'Routing',
'Prediction', 'Planning', 'Traffic Light', 'Control'
]
TARGET = Vector(4.85003185272217, -0.0120296478271484,
22.7699680328369)
COLLISIONS = []
SEDAN_WPS = [
Vector(-3.15000438690186, 0, 37.7700042724609),
Vector(4.85003137588501, -0.0120288729667664, 22.7699680328369)
]
NPC_SPEED = 10
sim_connection = SimConnection(scene="CubeTown")
lgsvl_sim = sim_connection.connect()
# Placing the sedan
sedan_state = spawn_state(lgsvl_sim)
sedan_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=15,
state=sedan_state)
sedan_state = CarControl.place_car_from_the_point(
dimension="horizontal", distance=-8, state=sedan_state)
sedan_state = CarControl.rotate_car_by_degree(state=sedan_state,
degree=-45)
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
# ego_state = CarControl.drive_ego_car(ego_state, [("vertical", 3)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
def on_collision(agent1, agent2, contact):
COLLISIONS.append([agent1, agent2, contact])
sim_connection.sim.close()
print("Exception: {} collided with {}".format(agent1, agent2))
ego.on_collision(on_collision)
sedan.on_collision(on_collision)
try:
ego.connect_bridge(LGSVL__APOLLO_HOST, LGSVL__APOLLO_PORT)
dv = lgsvl.dreamview.Connection(lgsvl_sim, ego,
LGSVL__DREAMVIEW_HOST)
dv.set_hd_map("CubeTown")
dv.set_vehicle("Lincoln2017MKZ (Apollo 5.0)")
dv.setup_apollo(TARGET.x, TARGET.z, MODULES)
# Start the scenario
waypoints = []
for point in SEDAN_WPS:
waypoints.append(
lgsvl.DriveWaypoint(point, NPC_SPEED,
sedan.state.transform.rotation))
sedan.follow(waypoints)
sim_connection.execute(timeout=15)
except Exception:
sim_connection.sim.close()
self.fail("Failed!")
sim_connection.sim.close()
self.assertTrue(True, True)
sedan_state = CarControl.rotate_car_by_degree(state=sedan_state,
degree=-45)
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.drive_ego_car(ego_state, [("vertical", ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
return {
"sedan": sedan,
"ego": ego,
}
sedan_wps = [
Vector(-3.15000438690186, 0, 37.7700042724609),
Vector(4.85003137588501, -0.0120288729667664, 22.7699680328369)
]
class TestCase04(unittest.TestCase):
@unittest.expectedFailure
def test_ego_crash_encroaching_npc(self):
sim_connection = SimConnection(scene="CubeTown")
encroaching = Encroaching(npc_speed=20,
ego_speed=1,
sim_connection=sim_connection,
step=1,
setup_vehicles=setup_cars,
npc_waypoints=sedan_wps)