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Rotation as part of initial parameters #7

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Rotation as part of initial parameters #7

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3 changes: 3 additions & 0 deletions carla_sim/parameters/spawn.yaml
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Original file line number Diff line number Diff line change
@@ -1,20 +1,23 @@
ev:
start: [30.874001, 7.542412, 0.3]
end: [205.874001, 8.542412, 0.3]
rotation: [0.0, 0.0, 0.0]

npc1:
start: [40.874001, 3.542412, 0.3]
throttle_range: [0.5, 0.7]
brake_chance: 0.3
brake_range: [0.0, 0.5]
steer_range: [0.0, 0.02]
rotation: [0.0, 0.0, 0.0]

npc2:
start: [70.874001, 7.542412, 0.3]
throttle_range: [0.2, 0.6]
brake_chance: 0.3
brake_range: [0.0, 0.4]
steer_range: [0.0, 0.02]
rotation: [0.0, 0.0, 0.0]

pedestrian1:
start: [65.874001, 3.542412, 0.3]
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12 changes: 6 additions & 6 deletions carla_sim/simulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,24 +45,24 @@ def run_simulation(spawn_config, weather_params,

blueprint_library = world.get_blueprint_library()
vehicle_bp = blueprint_library.filter('vehicle.tesla.model3')[0]
ev_tf = tools.list_to_transform(spawn_config['ev']['start'])
ev_end = tools.list_to_transform(spawn_config['ev']['end']).location
ev_tf = tools.lists_to_transform(spawn_config['ev']['start'], spawn_config['ev']['rotation'])
ev_end = tools.lists_to_transform(spawn_config['ev']['end']).location

vehicle = world.spawn_actor(vehicle_bp, ev_tf)
agent = BehaviorAgent(vehicle, behavior='normal')
agent.set_destination(ev_end)


npc1 = tools.spawn_npc(world, blueprint_library, tools.list_to_transform(spawn_config['npc1']['start']))
npc2 = tools.spawn_npc(world, blueprint_library, tools.list_to_transform(spawn_config['npc2']['start']))
npc1 = tools.spawn_npc(world, blueprint_library, tools.lists_to_transform(spawn_config['npc1']['start'], spawn_config['npc1']['rotation']))
npc2 = tools.spawn_npc(world, blueprint_library, tools.lists_to_transform(spawn_config['npc2']['start'], spawn_config['npc2']['rotation']))

walker1_bp = blueprint_library.find('walker.pedestrian.0001')
walker2_bp = blueprint_library.find('walker.pedestrian.0002')

ped1_start = tools.list_to_transform(spawn_config['pedestrian1']['start'])
ped1_start = tools.lists_to_transform(spawn_config['pedestrian1']['start'])
ped1_end = tools.list_to_location(spawn_config['pedestrian1']['end'])

ped2_start = tools.list_to_transform(spawn_config['pedestrian2']['start'])
ped2_start = tools.lists_to_transform(spawn_config['pedestrian2']['start'])
ped2_end = tools.list_to_location(spawn_config['pedestrian2']['end'])

walker1 = world.spawn_actor(walker1_bp, ped1_start)
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7 changes: 4 additions & 3 deletions carla_sim/tools.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,10 @@ def load_weather_yaml(path):
return yaml.safe_load(f)
def list_to_location(lst):
return carla.Location(x=lst[0], y=lst[1], z=lst[2])

def list_to_transform(lst):
return carla.Transform(list_to_location(lst), carla.Rotation())
def list_to_rotation(lst):
return carla.Rotation(x=lst[0], y=lst[1], z=lst[2])
def lists_to_transform(lst, lst2=[0,0,0]):
return carla.Transform(list_to_location(lst), list_to_rotation(lst2))

def load_ga_config(path):
if not os.path.exists(path):
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