17-many-pedestrians-walking.py

#!/usr/bin/env python3
#
# Copyright (c) 2019-2021 LG Electronics, Inc.
#
# This software contains code licensed as described in LICENSE.
#

import random
from environs import Env
import lgsvl

print("Python API Quickstart #17: Many pedestrians walking simultaneously")
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))
if sim.current_scene == lgsvl.wise.DefaultAssets.map_borregasave:
    sim.reset()
else:
    sim.load(lgsvl.wise.DefaultAssets.map_borregasave)

spawns = sim.get_spawn()

state = lgsvl.AgentState()
state.transform = spawns[0]
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])
sim.add_agent(env.str("LGSVL__VEHICLE_0", lgsvl.wise.DefaultAssets.ego_lincoln2017mkz_apollo5), lgsvl.AgentType.EGO, state)

names = [
    "Bob",
    "EntrepreneurFemale",
    "Howard",
    "Johny",
    "Pamela",
    "Presley",
    "Robin",
    "Stephen",
    "Zoe",
]

print("Creating 120 pedestrians")
for i in range(20 * 6):
    # Create peds in a block
    start = (
        spawns[0].position
        + (5 + (1.0 * (i // 6))) * forward
        - (2 + (1.0 * (i % 6))) * right
    )
    end = start + 10 * forward

    # Give waypoints for the spawn location and 10m ahead
    wp = [lgsvl.WalkWaypoint(start, 0), lgsvl.WalkWaypoint(end, 0)]

    state = lgsvl.AgentState()
    state.transform.position = start
    state.transform.rotation = spawns[0].rotation
    name = random.choice(names)

    # Send the waypoints and make the pedestrian loop over the waypoints
    p = sim.add_agent(name, lgsvl.AgentType.PEDESTRIAN, state)
    p.follow(wp, True)

input("Press Enter to start the simulation for 30 seconds")
sim.run(30)