Fix unit tests to use BorregasAve

Author: shalinmehtalgsvl

quickstart/03-raycast.py

@@ -39,19 +39,19 @@
 
 # raycast returns None if the ray doesn't collide with anything
 # hit also has the point property which is the Unity position vector of where the ray collided with something
-hit = sim.raycast(p, lgsvl.Vector(0,0,1), layer_mask)
+hit = sim.raycast(p, lgsvl.Vector(1,0,0), layer_mask)
 if hit:
   print("Distance right:", hit.distance)
 
-hit = sim.raycast(p, lgsvl.Vector(0,0,-1), layer_mask)
+hit = sim.raycast(p, lgsvl.Vector(-1,0,0), layer_mask)
 if hit:
   print("Distance left:", hit.distance)
 
-hit = sim.raycast(p, lgsvl.Vector(1,0,0), layer_mask)
+hit = sim.raycast(p, lgsvl.Vector(0,0,-1), layer_mask)
 if hit:
   print("Distance back:", hit.distance)
 
-hit = sim.raycast(p, lgsvl.Vector(-1,0,0), layer_mask)
+hit = sim.raycast(p, lgsvl.Vector(0,0,1), layer_mask)
 if hit:
   print("Distance forward:", hit.distance)
 

quickstart/13-npc-follow-waypoints.py

@@ -41,12 +41,20 @@
 waypoints = []
 x_max = 2
 z_delta = 12
+
+layer_mask = 0
+layer_mask |= 1 << 0 # 0 is the layer for the road (default)
+
 for i in range(20):
   speed = 6 if i % 2 == 0 else 12
   px = x_max * (-1 if i % 2 == 0 else 1)
   pz = (i + 1) * z_delta
 
-  wp = lgsvl.DriveWaypoint(lgsvl.Vector(sx + px, sy, sz + pz), speed)
+  # Raycast the points onto the ground because BorregasAve is not flat
+  hit = sim.raycast(lgsvl.Vector(sx + px, sy, sz + pz), lgsvl.Vector(0,-1,0), layer_mask) 
+
+  wp = lgsvl.DriveWaypoint(hit.point, speed)
+  #wp = lgsvl.DriveWaypoint(lgsvl.Vector(sx + px, sy, sz + pz), speed)
   waypoints.append(wp)
 
 # When the NPC is within 1m of the waypoint, this will be called

tests/common.py

@@ -15,7 +15,7 @@ class TestException(Exception):
     pass
 
 class SimConnection:
-  def __init__(self, seconds=30, scene="SanFrancisco", error_message=None, load_scene=True):
+  def __init__(self, seconds=30, scene="BorregasAve", error_message=None, load_scene=True):
     if error_message is None:
       error_message = 'test timed out after {}s.'.format(seconds)
     self.seconds = seconds

tests/test_EGO.py

@@ -17,7 +17,7 @@ def test_agent_name(self): # Check if EGO Apollo is created
         with SimConnection() as sim:
             agent = self.create_EGO(sim)
 
-        self.assertEqual(agent.name, "XE_Rigged-apollo")
+        self.assertEqual(agent.name, "Jaguar2015XE (Apollo 3.5)")
 
     def test_different_spawns(self): # Check if EGO is spawned in the spawn positions
         with SimConnection() as sim:
@@ -28,7 +28,7 @@ def test_different_spawns(self): # Check if EGO is spawned in the spawn position
 
             state = spawnState(sim)
             state.transform = spawns[1]
-            agent2 = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            agent2 = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
             cmEqual(self, agent2.state.position, spawns[1].position, "Spawn Position 1")
             cmEqual(self, agent2.state.rotation, spawns[1].rotation, "Spawn Rotation 1")
@@ -41,41 +41,42 @@ def test_agent_velocity(self): # Check EGO velocity
 
             sim.reset()
             state.velocity = lgsvl.Vector(-50, 0, 0)
-            agent = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            agent = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
             cmEqual(self, agent.state.velocity, state.velocity, "50 Velocity")
 
     def test_ego_different_directions(self): # Check that the xyz velocities equate to xyz changes in position
-        with SimConnection() as sim:
+        with SimConnection(40) as sim:
             state = spawnState(sim)
             state.velocity = lgsvl.Vector(-10,0,0)
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             sim.run(.5)
             self.assertNotAlmostEqual(state.position.x, ego.state.position.x, places=1)
             self.assertAlmostEqual(state.position.y, ego.state.position.y, places=1)
             self.assertAlmostEqual(state.position.z, ego.state.position.z, places=1)
             sim.remove_agent(ego)
             state.velocity = lgsvl.Vector(0,10,0)
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             sim.run(.5)
             self.assertNotAlmostEqual(state.position.y, ego.state.position.y, places=1)
             self.assertAlmostEqual(state.position.x, ego.state.position.x, places=1)
             self.assertAlmostEqual(state.position.z, ego.state.position.z, places=1)
             sim.remove_agent(ego)
-            state.velocity = lgsvl.Vector(0,0,-10)
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            state.velocity = lgsvl.Vector(0,0,10)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             sim.run(.5)
             self.assertNotAlmostEqual(state.position.z, ego.state.position.z, places=1)
-            self.assertAlmostEqual(state.position.y, ego.state.position.y, places=1)
+            self.assertAlmostEqual(state.position.y, ego.state.position.y, delta=0.15)
             self.assertAlmostEqual(state.position.x, ego.state.position.x, places=1)
 
     def test_speed(self): # check that speed returns a reasonable number
         with SimConnection() as sim:
             state = spawnState(sim)
             state.velocity = lgsvl.Vector(-10,10,10)
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             self.assertAlmostEqual(ego.state.speed, math.sqrt(300))
 
+    @unittest.skip("No highway in currents maps")
     def test_rotation_on_highway_ramp(self): # Check that vehicle is rotated when spawned on the highway ramp
         with SimConnection() as sim:
             state = spawnState(sim)
@@ -87,7 +88,7 @@ def test_rotation_on_highway_ramp(self): # Check that vehicle is rotated when sp
 
     def test_ego_steering(self): # Check that a steering command can be given to an EGO vehicle, and the car turns
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.3
             control.steering = -1.0
@@ -99,7 +100,7 @@ def test_ego_steering(self): # Check that a steering command can be given to an
 
     def test_ego_throttle(self): # Check that a throttle command can be given to an EGO vehicle, and the car accelerates
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.5
             ego.apply_control(control, True)
@@ -109,20 +110,20 @@ def test_ego_throttle(self): # Check that a throttle command can be given to an
             self.assertGreater(finalSpeed, initialSpeed)
 
     def test_ego_braking(self): # Check that a brake command can be given to an EGO vehicle, and the car stops sooner than without brakes
-        with SimConnection() as sim:
+        with SimConnection(60) as sim:
             state = spawnState(sim)
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             control = lgsvl.VehicleControl()
             control.throttle = 1
             ego.apply_control(control, True)
             sim.run(1)
             control = lgsvl.VehicleControl()
             ego.apply_control(control,True)
             sim.run(3)
-            noBrakePosition = ego.state.position.x
+            noBrakePosition = ego.state.position.z
 
             sim.reset()
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             control = lgsvl.VehicleControl()
             control.throttle = 1
             ego.apply_control(control, True)
@@ -131,23 +132,23 @@ def test_ego_braking(self): # Check that a brake command can be given to an EGO
             control.braking = 1
             ego.apply_control(control, True)
             sim.run(3)
-            self.assertGreater(ego.state.position.x, noBrakePosition)
+            self.assertLess(ego.state.position.z, noBrakePosition)
 
     def test_ego_handbrake(self): # Check that the handbrake can be enable on an EGO vehicle, and the car stops sooner than without brakes
-        with SimConnection() as sim:
+        with SimConnection(60) as sim:
             state = spawnState(sim)
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             control = lgsvl.VehicleControl()
             control.throttle = 1
             ego.apply_control(control, True)
             sim.run(1)
             control = lgsvl.VehicleControl()
             ego.apply_control(control,True)
             sim.run(3)
-            noBrakePosition = ego.state.position.x
+            noBrakePosition = ego.state.position.z
 
             sim.reset()
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             control = lgsvl.VehicleControl()
             control.throttle = 1
             ego.apply_control(control, True)
@@ -156,44 +157,46 @@ def test_ego_handbrake(self): # Check that the handbrake can be enable on an EGO
             control.handbrake = True
             ego.apply_control(control, True)
             sim.run(3)
-            self.assertGreater(ego.state.position.x, noBrakePosition)
+            self.assertLess(ego.state.position.z, noBrakePosition)
 
     def test_ego_reverse(self): # Check that the gear can be changed in an EGO vehicle, and the car moves in reverse
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.5
             control.reverse = True
             ego.apply_control(control, True)
             sim.run(2)
-            self.assertGreater(ego.state.position.x, sim.get_spawn()[0].position.x)
+            self.assertLess(ego.state.position.z, sim.get_spawn()[0].position.z)
 
     def test_not_sticky_control(self): # Check that the a non sticky control is removed
-        with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+        with SimConnection(60) as sim:
+            state = spawnState(sim)
+            state.position.z += 20
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
             control = lgsvl.VehicleControl()
-            control.throttle = 0.5
+            control.throttle = 1
             ego.apply_control(control, True)
-            sim.run(1)
-            initialSpeed = ego.state.speed
+            sim.run(3)
+            stickySpeed = ego.state.speed
             control = lgsvl.VehicleControl()
-            control.throttle = 0.5
+            control.throttle = 1
             ego.apply_control(control, False)
-            sim.run(1)
+            sim.run(3)
             finalSpeed = ego.state.speed
-            self.assertGreater(initialSpeed, finalSpeed)
+            self.assertGreater(stickySpeed, finalSpeed)
 
     def test_vary_throttle(self): # Check that different throttle values accelerate differently
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.5
             ego.apply_control(control, True)
             sim.run(1)
             initialSpeed = ego.state.speed
 
             sim.reset()
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.1
             ego.apply_control(control, True)
@@ -202,7 +205,7 @@ def test_vary_throttle(self): # Check that different throttle values accelerate
 
     def test_vary_steering(self): # Check that different steering values turn the car differently
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.5
             control.steering = -0.8
@@ -211,7 +214,7 @@ def test_vary_steering(self): # Check that different steering values turn the ca
             initialAngle = ego.state.rotation.y
 
             sim.reset()
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             control = lgsvl.VehicleControl()
             control.throttle = 0.5
             control.steering = -0.3
@@ -221,7 +224,7 @@ def test_vary_steering(self): # Check that different steering values turn the ca
 
     def test_bounding_box_size(self): # Check that the bounding box is calculated properly and is reasonable
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             bBox = ego.bounding_box
             self.assertAlmostEqual(bBox.size.x, abs(bBox.max.x-bBox.min.x))
             self.assertAlmostEqual(bBox.size.y, abs(bBox.max.y-bBox.min.y))
@@ -232,29 +235,30 @@ def test_bounding_box_size(self): # Check that the bounding box is calculated pr
 
     def test_bounding_box_center(self): # Check that the bounding box center is calcualted properly
         with SimConnection() as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             bBox = ego.bounding_box
             self.assertAlmostEqual(bBox.center.x, (bBox.max.x+bBox.min.x)/2)
             self.assertAlmostEqual(bBox.center.y, (bBox.max.y+bBox.min.y)/2)
             self.assertAlmostEqual(bBox.center.z, (bBox.max.z+bBox.min.z)/2)
 
     def test_equality(self): # Check that agent == operation works
         with SimConnection() as sim:
-            ego1 = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
-            ego2 = sim.add_agent("XE_Rigged-autoware", lgsvl.AgentType.EGO, spawnState(sim))
+            ego1 = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
+            ego2 = sim.add_agent("Jaguar2015XE (Autoware)", lgsvl.AgentType.EGO, spawnState(sim))
             self.assertTrue(ego1 == ego1)
             self.assertFalse(ego1 == ego2)
 
+    @unittest.skip("Cruise Control not implemented yet")
     def test_set_fixed_speed(self):
         with SimConnection(60) as sim:
-            ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+            ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
             ego.set_fixed_speed(True, 15.0)
             self.assertAlmostEqual(ego.state.speed, 0, delta=0.001)
             sim.run(5)
             self.assertAlmostEqual(ego.state.speed, 15, delta=1)
 
     def create_EGO(self, sim): # Only create an EGO is none are already spawned
-        return sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, spawnState(sim))
+        return sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, spawnState(sim))
 
     # def test_large_throttle(self):
     #     with SimConnection(60) as sim: