def run_sim(street_1: DecalRoad, ai_aggression):
waypoint_goal = BeamNGWaypoint('waypoint_goal', get_node_coords(street_1.nodes[-1]))
maps.beamng_map.generated().write_items(street_1.to_json() + '\n' + waypoint_goal.to_json())
beamng = BeamNGpy('localhost', 64256)
scenario = Scenario('tig', 'tigscenario')
vehicle = Vehicle('ego_vehicle', model='etk800', licence='TIG', color='Red')
sim_data_collector = TrainingDataCollectorAndWriter(vehicle, beamng, street_1)
scenario.add_vehicle(vehicle, pos=get_node_coords(street_1.nodes[0]), rot=get_rotation(street_1))
scenario.make(beamng)
beamng.open()
beamng.set_deterministic()
beamng.load_scenario(scenario)
beamng.pause()
beamng.start_scenario()
vehicle.ai_set_aggression(ai_aggression)
vehicle.ai_drive_in_lane(False)
vehicle.ai_set_speed(25)
vehicle.ai_set_waypoint(waypoint_goal.name)
#vehicle.ai_set_mode("manual")
steps = 5
def start():
for idx in range(1000):
if (idx * 0.05 * steps) > 3.:
sim_data_collector.collect_and_write_current_data()
if sim_data_collector.oob_monitor.is_oob(wrt="center"):
raise ValueError("OOB detected during training")
dist = distance(sim_data_collector.last_state.pos, waypoint_goal.position)
if dist < 15.0:
beamng.resume()
break
# one step is 0.05 seconds (5/100)
beamng.step(steps)
try:
start()
finally:
beamng.close()
def run_sim(street_1: DecalRoad):
waypoints = []
for node in street_1.nodes:
waypoint = BeamNGWaypoint("waypoint_" + str(node),
get_node_coords(node))
waypoints.append(waypoint)
print(len(waypoints))
maps.beamng_map.generated().write_items(
street_1.to_json() + '\n' +
"\n".join([waypoint.to_json() for waypoint in waypoints]))
beamng = BeamNGpy('localhost', 64256)
scenario = Scenario('tig', 'tigscenario')
vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='TIG',
color='Red')
sim_data_collector = TrainingDataCollectorAndWriter(
vehicle, beamng, street_1)
scenario.add_vehicle(vehicle,
pos=get_node_coords(street_1.nodes[0]),
rot=get_rotation(street_1))
scenario.make(beamng)
beamng.open()
beamng.set_deterministic()
beamng.load_scenario(scenario)
beamng.pause()
beamng.start_scenario()
vehicle.ai_drive_in_lane(True)
vehicle.ai_set_mode("disabled")
vehicle.ai_set_speed(10 / 4)
steps = 5
def start():
for waypoint in waypoints[10:-1:20]:
vehicle.ai_set_waypoint(waypoint.name)
for idx in range(1000):
if (idx * 0.05 * steps) > 3.:
sim_data_collector.collect_and_write_current_data()
dist = distance(sim_data_collector.last_state.pos,
waypoint.position)
if dist < 15.0:
beamng.resume()
break
# one step is 0.05 seconds (5/100)
beamng.step(steps)
try:
start()
finally:
beamng.close()
