Before using the Python API, execute FlightGoggles binary as described in Using the FlightGoggles Renderer
Users can command the speed and the steering angle to simulate car dynamics.
- proceed(vehicle_id, speed_command, steering_angle_command, duration)
The vehicle’s states are composed of timestamp, position, velocity, heading, speed, steering_angle. Same as the UAV simulation, the vehicle’s state can be updated by set_state_vehicle() function, and obtained by get_stat_vehicle() function.
- set_state_vehicle(vehicle_id, **kwargs) - get_state(vehicle_id)
The camera’s position and attitude can be manually changed by set_state_camera and the latest camera image can be obtained by get_camera_image.
- set_state_camera(camera_id, position, attitude) - get_camera_image(camera_id)
This is the example code to run car simulation:
import numpy as np
from IPython.display import HTML, display
from flightgoggles.env import flightgoggles_env
if __name__ == "__main__":
env = flightgoggles_env()
for j in range(400):
env.proceed("car1", 1.0, 1.0, 0.01)
ani_set = env.plot_state_video(flag_save=False, filename="car")
display(HTML(ani_set["cam2"].to_html5_video()))
env.close()
