#!/usr/bin/env python3
#
# Copyright (c) 2020 LG Electronics, Inc.
#
# This software contains code licensed as described in LICENSE.
#
from environs import Env
import lgsvl
env = Env()
sim = lgsvl.Simulator(env.str("LGSVL__SIMULATOR_HOST", "127.0.0.1"),
env.int("LGSVL__SIMULATOR_PORT", 8181))
if sim.current_scene == "BorregasAve":
sim.reset()
else:
sim.load("BorregasAve", 42)
spawns = sim.get_spawn()
state = lgsvl.AgentState()
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])
up = lgsvl.utils.transform_to_up(spawns[0])
state.transform = spawns[0]
ego = sim.add_agent(env.str("LGSVL__VEHICLE_0", "Lincoln2017MKZ (Apollo 5.0)"),
lgsvl.AgentType.EGO, state)
print("Python API Quickstart #28: How to Add/Control Traffic Cone")
import os
import lgsvl
import sys
import time
import evaluator
MAX_SPEED = 6.667 # (24 km/h, 15mph)
SPEED_VARIANCE = 4
MAX_POV_SEPARATION = 8 + 8 + 4.6
SEPARATION_VARIANCE = 2
TIME_LIMIT = 30 # seconds
print("PLC_CP_15 - ", end='')
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
if sim.current_scene == "SanFrancisco":
sim.reset()
else:
sim.load("SanFrancisco")
# spawn EGO in the 2nd to right lane
egoState = lgsvl.AgentState()
# A point close to the desired lane was found in Editor. This method returns the position and orientation of the closest lane to the point.
egoState.transform = sim.map_point_on_lane(lgsvl.Vector(1699.6, 88.38, -601.9))
ego = sim.add_agent("XE_Rigged-apollo_3_5", lgsvl.AgentType.EGO, egoState)
egoX = ego.state.position.x
egoY = ego.state.position.y
egoZ = ego.state.position.z
# enable sensors required for Apollo 3.5
def Simulator(self):
# Connects to the simulator instance at the ip defined by SIMULATOR_HOST, default is localhost or 127.0.0.1
sim = lgsvl.Simulator(os.environ.get(self.simulator, self.ip),
self.port)
return sim
# If the simulator and bridge are running on the same computer, then the default values will work.
# Otherwise the variables must be set for in order to connect to the simulator and the bridge to receive data.
# LGSVL__SIMULATOR_PORT and LGSVL__AUTOPILOT_0_HOST need to be set if non-default ports will be used
import os
import lgsvl
import sys
SIMULATOR_HOST = os.environ.get("LGSVL__SIMULATOR_HOST", "127.0.0.1")
SIMULATOR_PORT = int(os.environ.get("LGSVL__SIMULATOR_PORT", 8181))
BRIDGE_HOST = os.environ.get("LGSVL__AUTOPILOT_0_HOST", "127.0.0.1")
BRIDGE_PORT = int(os.environ.get("LGSVL__AUTOPILOT_0_PORT", 9090))
scene_name = env.str("LGSVL__MAP", lgsvl.wise.DefaultAssets.map_straight1lanepedestriancrosswalk)
sim = lgsvl.Simulator(SIMULATOR_HOST, SIMULATOR_PORT)
if sim.current_scene == scene_name:
sim.reset()
else:
sim.load(scene_name)
# spawn EGO
egoState = lgsvl.AgentState()
egoState.transform = sim.get_spawn()[0]
ego = sim.add_agent(os.environ.get("LGSVL__VEHICLE_0", lgsvl.wise.DefaultAssets.ego_lincoln2017mkz_apollo5_full_analysis), lgsvl.AgentType.EGO, egoState)
ego.connect_bridge(BRIDGE_HOST, BRIDGE_PORT)
# spawn PED
pedState = lgsvl.AgentState()
pedState.transform.position = lgsvl.Vector(-7.67, 0.2, 6.299)
ped = sim.add_agent("Bob", lgsvl.AgentType.PEDESTRIAN, pedState)
log = logging.getLogger(__name__)
env = Env()
MAX_SPEED = 6.667 # (24 km/h, 15 mph)
SPEED_VARIANCE = 4
TIME_LIMIT = 15 # seconds
LGSVL__SIMULATOR_HOST = env.str("LGSVL__SIMULATOR_HOST", "127.0.0.1")
LGSVL__SIMULATOR_PORT = env.int("LGSVL__SIMULATOR_PORT", 8181)
LGSVL__AUTOPILOT_0_HOST = env.str("LGSVL__AUTOPILOT_0_HOST", "127.0.0.1")
LGSVL__AUTOPILOT_0_PORT = env.int("LGSVL__AUTOPILOT_0_PORT", 9090)
print("PLC_SP_15 - ", end='')
sim = lgsvl.Simulator(LGSVL__SIMULATOR_HOST, LGSVL__SIMULATOR_PORT)
scene_name = env.str("LGSVL__MAP",
lgsvl.wise.DefaultAssets.map_straight2lanesame)
if sim.current_scene == scene_name:
sim.reset()
else:
sim.load(scene_name)
# spawn EGO in the 2nd to right lane
egoState = lgsvl.AgentState()
# A point close to the desired lane was found in Editor.
# This method returns the position and orientation of the closest lane to the point.
egoState.transform = sim.map_point_on_lane(lgsvl.Vector(3.68, 0, -50))
ego = sim.add_agent(
env.str("LGSVL__VEHICLE_0",
lgsvl.wise.DefaultAssets.ego_lincoln2017mkz_apollo5_full_analysis),
# Copyright (c) 2021 LG Electronics, Inc.
#
# This software contains code licensed as described in LICENSE.
#
import time
from environs import Env
import lgsvl
print(
"Python API Quickstart #35: Spawning multi robots with bridge connections")
env = Env()
sim = lgsvl.Simulator(
env.str("LGSVL__SIMULATOR_HOST",
lgsvl.wise.SimulatorSettings.simulator_host),
env.int("LGSVL__SIMULATOR_PORT",
lgsvl.wise.SimulatorSettings.simulator_port))
map_seocho = lgsvl.wise.DefaultAssets.map_lgseocho
robots = [
lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2_multi_robot1,
lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2_multi_robot2,
lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2_multi_robot3,
]
if sim.current_scene == map_seocho:
sim.reset()
else:
sim.load(map_seocho)
#!/usr/bin/env python3
#
# Copyright (c) 2020-2021 LG Electronics, Inc.
#
# This software contains code licensed as described in LICENSE.
#
import os
import lgsvl
import time
print("Python API Quickstart #33: Stepping a simulation")
sim = lgsvl.Simulator(
os.environ.get("LGSVL__SIMULATOR_HOST",
lgsvl.wise.SimulatorSettings.simulator_host),
lgsvl.wise.SimulatorSettings.simulator_port)
if sim.current_scene == lgsvl.wise.DefaultAssets.map_borregasave:
sim.reset()
# Re-load scene and set random seed
sim.load(lgsvl.wise.DefaultAssets.map_borregasave, seed=123)
spawns = sim.get_spawn()
state = lgsvl.AgentState()
state.transform = spawns[0]
forward = lgsvl.utils.transform_to_forward(spawns[0])
# Agents can be spawned with a velocity. Default is to spawn with 0 velocity
# state.velocity = 20 * forward
# In order for Apollo to drive with stepped simulation we must add the clock sensor
import lgsvl
import random
import time
from threading import Thread, Lock
DIS_THROSHOLD = 3
TIME_LIMIT = 300
sim = lgsvl.Simulator(address="localhost", port=8181)
try:
sim.reset()
except:
pass
# Inits simulation.
sim.load(scene="Shalun", seed=650387)
# Chooses ego vehicles.
state = lgsvl.AgentState()
state.transform.position = lgsvl.Vector(-7, 0, 76)
state.transform.rotation.y = 190
ego = sim.add_agent(name="Lexus2016RXHybrid (Autoware)",
agent_type=lgsvl.AgentType.EGO,
state=state)
# Connects to Autoware Ros2 bridge.
ego.connect_bridge("127.0.0.1", 9090)
failed = False
import os
import lgsvl
from anotherquickstart import SIMULATOR_HOST_KEY, DEFAULT_SIMULATOR_HOST, DEFAULT_SIMULATION_PORT
sim = lgsvl.Simulator(os.environ.get(SIMULATOR_HOST_KEY, DEFAULT_SIMULATOR_HOST), DEFAULT_SIMULATION_PORT)
print("Current Scene = {}".format(sim.current_scene))
sim.run()
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)
# add_egocar() is been remodeling now to match IF as add_static_car()
from copy import deepcopy
import os
import lgsvl
import math
import copy
import time
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--host",help='simulator execute pc\'s ip address / --host 192.168.0.1',default='127.0.0.1')
parser.add_argument("--bridge",help='bridge execute pc\'s ip address / --bridge 192.168.0.1',default='127.0.0.1')
args = parser.parse_args()
sim = lgsvl.Simulator(args.host, 8181)
scene_name = "Borregas Avenue"
vehicle_name = "Lexus"
if sim.current_scene == scene_name:
sim.reset()
else:
sim.load(scene_name)
spawns = sim.get_spawn()
print("<< START FROM INTERSECTION 1 (waypoint:#372) >>")
INIT_POS_X = -99.6277
INIT_POS_Z = -301.8317 # <- Caution!!, NOT Y, BUT Z
INIT_POS_Y = -6.9193 # <- Caution!!, NOT Z, BUT Y
def initSimulator(self):
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"),
8181)
self.sim = sim
