def getSquareRoadScenario():
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
squareRoadScenario = Scenario('smallgrid', 'Straight_Foward_Test')
testRoad = Road('track_editor_C_center', rid='Test_Road', looped=True)
roadNode = [(0, 0, 0, 7), (250, 0, 0, 7), (250, 250, 0, 7), (0, 250, 0, 7)]
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)
squareRoadScenario.add_road(testRoad)
squareRoadScenario.add_vehicle(testVehicle, pos=(0, 0, 0), rot=(0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': squareRoadScenario,
'vehicule': testVehicle
}
return scenarioDict
def setup_sensors(vehicle, pos=(-0.5, 0.38, 1.3), direction=(0, 1.0, 0)):
# Set up sensors
# pos = (-0.3, 1, 1.0) # default
#pos = (-0.5, 2, 1.0) #center edge of hood
# pos = (-0.5, 1, 1.0) # center middle of hood
# pos = (-0.5, 0.4, 1.0) # dashboard
# pos = (-0.5, 0.38, 1.5) # roof
# pos = (-0.5, 0.38, 1.3) # windshield
# direction = (0, 1.0, 0)
fov = 50
resolution = (200, 150) #(1280,960) #(512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
return vehicle
def setup_sensors(self, vehicle):
# Set up sensors
pos = (-0.3, 1, 1.0)
direction = (0, 0.75, 0) #(0, 0.75, -1.5) #(0, 0.75, 0) #(0,1,0)
fov = 120
resolution = (512, 512)
front_camera = Camera(pos, direction, fov, resolution,
colour=True, depth=True, annotation=True)
pos = (0.0, 3, 1.0)
direction = (0, -1, 0)
fov = 90
resolution = (512, 512)
back_camera = Camera(pos, direction, fov, resolution,
colour=True, depth=True, annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
#lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('back_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
return vehicle
def test_gforces(beamng):
with beamng as bng:
scenario = Scenario('west_coast_usa', 'gforce_test')
vehicle = Vehicle('test_car', model='etk800')
gforces = GForces()
vehicle.attach_sensor('gforces', gforces)
scenario.add_vehicle(vehicle,
pos=(-717.121, 101, 118.675),
rot=(0, 0, 45))
scenario.make(beamng)
gx = []
gy = []
bng.load_scenario(scenario)
bng.start_scenario()
bng.step(120)
vehicle.ai_set_aggression(2)
vehicle.ai_set_mode('span')
for _ in range(64):
bng.step(30)
vehicle.poll_sensors()
gx.append(gforces.data['gx'])
gy.append(gforces.data['gy'])
assert np.var(gx) > 1 and np.var(gy) > 1
def getStaticScenario(testName):
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
staticScenario = Scenario('smallgrid', str(testName))
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)
staticScenario.add_vehicle(testVehicle, (0, 0, 0), (0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': staticScenario,
'vehicule': testVehicle
}
return scenarioDict
def setup_sensors(vehicle):
# Set up sensors
# pos = (-0.3, 1, 1.0) # default
pos = (-0.5, 2, 1.0) #center edge of hood
# pos = (-0.5, 1, 1.0) # center middle of hood
# pos = (-0.5, 0.4, 1.0) # dashboard
# pos = (-0.5, 0.38, 1.5) # roof
# pos = (-0.5, 0.38, 1.1) # windshield
pos = (-0.5, 0.38, 1.3) # windshield
# direction = (0, 1, 0)
direction = (0, 1.0, 0)
fov = 50
resolution = (1280, 960) #(512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
pos = (-0.5, 0.38, 1.1) # windshield
direction = (0, 1, 0)
fov = 120
resolution = (512, 512)
back_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
#lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
# vehicle.attach_sensor('headlight_cam', front_camera)
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('windshield_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
return vehicle
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 __init__(self,
vehicle: Vehicle,
beamng: BeamNGpy,
additional_sensors: List[Tuple[str, Sensor]] = None):
self.vehicle = vehicle
self.beamng = beamng
self.state: VehicleState = None
self.vehicle_state = {}
gforces = GForces()
electrics = Electrics()
damage = Damage()
timer = Timer()
self.vehicle.attach_sensor('gforces', gforces)
self.vehicle.attach_sensor('electrics', electrics)
self.vehicle.attach_sensor('damage', damage)
self.vehicle.attach_sensor('timer', timer)
if additional_sensors:
for (name, sensor) in additional_sensors:
self.vehicle.attach_sensor(name, sensor)
beamng = BeamNGpy('localhost', 64256,home=beamNGPAth) # This is the host & port used to communicate over
# Create a blue vehicle instance that will be called 'LIF Mobile' in the simulation
# using the etkc model the simulator ships with 'LIFLAB' licence plate
vehicle = Vehicle('LIF_Mobile', model='etkc', licence='LIFLAB', colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
vehicle.attach_sensor('electrics', electrics)
#Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
vehicle.attach_sensor('damage',damage)
#Create a Gforce sensor and attach it to the vehicle if module is selected
gForce=GForces()
vehicle.attach_sensor('GForces',gForce)
# Create a scenario called 'LIF TEST' taking place in the gridmap map the simulator ships with
scenario = Scenario('gridmap', 'LIF_TEST')
# Add the vehicle and specify that it should start at a certain position and orientation.
# The position & orientation values were obtained by opening the level in the simulator,
# hitting F11 to open the editor and look for a spot to spawn and simply noting down the
# corresponding values.
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 45)) # 45 degree rotation around the z-axis
print()
# The make function of a scneario is used to compile the scenario and produce a scenario file the simulator can load
scenario.make(beamng)
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
def main():
random.seed(1703)
setup_logging()
# Plotting code setting up a 3x2 figure
fig = plt.figure(1, figsize=(10, 5))
axarr = fig.subplots(2, 3)
a_colour = axarr[0, 0]
b_colour = axarr[1, 0]
a_depth = axarr[0, 1]
b_depth = axarr[1, 1]
a_annot = axarr[0, 2]
b_annot = axarr[1, 2]
plt.ion()
beamng = BeamNGpy('localhost', 64256)
bng = beamng.open(launch=True)
# Create a scenario in west_coast_usa
scenario = Scenario('west_coast_usa',
'tech_test',
description='Random driving for research')
# Set up first vehicle, with two cameras, gforces sensor, lidar, electrical
# sensors, and damage sensors
vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='RED',
color='Red')
# Set up sensors
pos = (-0.3, 1, 1.0)
direction = (0, 1, 0)
fov = 120
resolution = (512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
pos = (0.0, 3, 1.0)
direction = (0, -1, 0)
fov = 90
resolution = (512, 512)
back_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('back_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
scenario.add_vehicle(vehicle,
pos=(-717.121, 101, 118.675),
rot=None,
rot_quat=(0, 0, 0.3826834, 0.9238795))
# Compile the scenario and place it in BeamNG's map folder
scenario.make(bng)
# Start BeamNG and enter the main loop
try:
bng.hide_hud()
bng.set_deterministic() # Set simulator to be deterministic
bng.set_steps_per_second(60) # With 60hz temporal resolution
# Load and start the scenario
bng.load_scenario(scenario)
bng.start_scenario()
# Put simulator in pause awaiting further inputs
bng.pause()
assert vehicle.skt
# Send random inputs to vehice and advance the simulation 20 steps
for _ in range(1024):
throttle = random.uniform(0.0, 1.0)
steering = random.uniform(-1.0, 1.0)
brake = random.choice([0, 0, 0, 1])
vehicle.control(throttle=throttle, steering=steering, brake=brake)
bng.step(20)
# Retrieve sensor data and show the camera data.
sensors = bng.poll_sensors(vehicle)
print('{} seconds passed.'.format(sensors['timer']['time']))
a_colour.imshow(sensors['front_cam']['colour'].convert('RGB'))
a_depth.imshow(sensors['front_cam']['depth'].convert('L'))
a_annot.imshow(sensors['front_cam']['annotation'].convert('RGB'))
b_colour.imshow(sensors['back_cam']['colour'].convert('RGB'))
b_depth.imshow(sensors['back_cam']['depth'].convert('L'))
b_annot.imshow(sensors['back_cam']['annotation'].convert('RGB'))
plt.pause(0.00001)
finally:
bng.close()
def main():
random.seed(1703)
setup_logging()
beamng = BeamNGpy('localhost',
64256,
home='C:/Users/merie/Documents/BeamNG.research.v1.7.0.1')
config = Config()
loaded_config = config.load("{}/config.json".format(beamng.home))
# Create a scenario in west_coast_usa
scenario = Scenario('west_coast_usa',
'research_test',
description='Random driving for research')
# Set up first vehicle, with two cameras, gforces sensor, lidar, electrical
# sensors, and damage sensors
vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='RED',
color='Red')
# Set up sensors
pos = (-0.3, 1, 1.0)
direction = (0, 1, 0)
fov = 120
resolution = (512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
pos = (0.0, 3, 1.0)
direction = (0, -1, 0)
fov = 90
resolution = (512, 512)
back_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('back_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
#scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=None, rot_quat=(0, 0, 0.3826834, 0.9238795))
#config_rot_quat = beamngpy.angle_to_quat(config.dir)
# N.B. using rot is deprecated in favor of rot_quat
#scenario.add_vehicle(vehicle, pos=tuple(config.pos), rot=tuple(config.dir), rot_quat=None)
scenario.add_vehicle(vehicle,
pos=tuple(config.pos),
rot=None,
rot_quat=beamngpy.angle_to_quat(config.dir))
# 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)
try:
bng.hide_hud()
bng.set_deterministic() # Set simulator to be deterministic
bng.set_steps_per_second(60) # With 60hz temporal resolution
# Load and start the scenario
bng.load_scenario(scenario)
bng.start_scenario()
# Put simulator in pause awaiting further inputs
bng.pause()
assert vehicle.skt
# Send random inputs to vehicle and advance the simulation 20 steps
#for _ in range(1024):
for _ in range(100):
throttle = random.uniform(0.0, 1.0)
steering = random.uniform(-1.0, 1.0)
brake = random.choice([0, 0, 0, 1])
vehicle.control(throttle=throttle, steering=steering, brake=brake)
# bng.step(20)
bng.step(20)
# Retrieve sensor data and show the camera data.
sensors = bng.poll_sensors(vehicle)
print('\n{} seconds passed.'.format(sensors['timer']['time']))
print("step in loop {}".format(_))
for s in sensors.keys():
print("{} : {}".format(s, sensors[s]))
damage_dict = vehicle.sensors['damage'].encode_vehicle_request()
damage_dict = sensors['damage']
config.update(sensors['damage'])
config.update(vehicle.state)
config.save('{}/config.json'.format(beamng.home))
gamestate = beamng.get_gamestate()
if _ > 990:
print("late in sim")
finally:
bng.close()