def main():
path='C:/Users/marc/Desktop/BeamNG'
beamng = BeamNGpy('localhost', 64256,path)
scenario = Scenario('GridMap', 'vehicle_bbox_example')
road = Road('track_editor_C_center', rid='main_road', texture_length=5)
orig = (-107, 70, 0)
goal = (-300, 70, 0)
road.nodes = [
(*orig, 7),
(*goal, 7),
]
scenario.add_road(road)
script = [{'x': orig[0], 'y': orig[1], 'z': .3, 't': 0}]
h=0
i = 0.2
while script[h]['x'] > goal[0]:
node = {
'x': -10 * i + orig[0],
'y': 8 * np.sin(i) + orig[1],
'z': 0.3,
't': 1.5 * i,
}
script.append(node)
i += 0.2
h+=1
print(script)
vehicle = Vehicle('ego_vehicle', model='etkc', licence='PYTHON')
scenario.add_vehicle(vehicle, pos=orig)
scenario.make(beamng)
bng = beamng.open()
bng.load_scenario(scenario)
bng.start_scenario()
vehicle.ai_set_script(script)
bng.pause()
bng.step(1)
from PIL import Image
from shapely.geometry import Polygon
from beamngpy import BeamNGpy, Vehicle, Scenario, Road
from beamngpy.sensors import Camera
beamng = BeamNGpy('localhost',
64256,
home='C:/Users/merie/Documents/BeamNG.research.v1.7.0.0')
scenario = Scenario('GridMap', 'vehicle_bbox_example')
road = Road('track_editor_C_center', rid='main_road', texture_length=5)
orig = (-107, 70, 0)
goal = (-300, 70, 0)
road.nodes = [
(*orig, 7),
(*goal, 7),
]
scenario.add_road(road)
vehicle = Vehicle('ego_vehicle', model='etk800', licence='PYTHON')
overhead = Camera((0, -10, 5), (0, 1, -0.75), 60, (1024, 1024))
vehicle.attach_sensor('overhead', overhead)
scenario.add_vehicle(vehicle, pos=orig)
scenario.make(beamng)
bng = beamng.open()
bng.load_scenario(scenario)
bng.start_scenario()
road_geometry = bng.get_road_edges('main_road')
