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Add vehicle configuration #2130

Merged
merged 50 commits into from
Jan 9, 2024
Merged

Add vehicle configuration #2130

merged 50 commits into from
Jan 9, 2024

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Gamenot
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@Gamenot Gamenot commented Jan 2, 2024 •
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  • Enable composed configuration of vehicles
    • urdf dynamics model
    • tire params
    • controller params
    • chassis params
    • visual model
    • vehicle type
  • Add heavy truck physics model
  • Add heavy truck visual model
  • Add light truck physics model
  • Add SMARTS_ASSETS_PATH
  • Move smarts.core.models to smarts.assets.
  • Enable configuration substitution in smarts configuration files.
  • Use urdf chassis size as Ackermann vehicle size.
  • Fix tests.

Closes #2120 #2116

@Gamenot Gamenot linked an issue Jan 2, 2024 that may be closed by this pull request
[Help Request] Need to customize vehicle parameters #2116
Closed
@Gamenot Gamenot self-assigned this Jan 3, 2024
Gamenot and others added 28 commits January 4, 2024 20:56
@Gamenot
Update truck urdf.
fb1f618
@Gamenot
Update truck
9be1c6a
@Gamenot
Move assets from `smarts.core.models to smarts.assets
cccb6d8
@Gamenot
Renamed vehicle.urdf to sedan.urdf
f22675d
@Gamenot
Fix sedan vehicle urdf reference.
da22170
@Gamenot
Update substitution configuration loading.
bb4ab19
@Gamenot
Allow vehicle composition.
2b288b0
@Gamenot
Add missing scenario_definitions_filepath property
b1057cc
@Gamenot
Add missing glb files.
c8c6ee4
@Gamenot
Fix trajectory controller test.
d3f3d39
@Gamenot
Fix collision test.
60bbf0d
@Gamenot
Fix types test.
ec43171
@Gamenot
Include smarts/assets in manifest.
0b8f780
@Gamenot
Add default truck definition.
f7c0cea
@Gamenot
Update test with truck.
a50a95d
@Gamenot
Remove unused files.
87c1272
@Gamenot
Change [resources] to [assets].
5086fc5
@Gamenot
Retype moving_truck definitions to truck.
ee5384a
@Gamenot
Rename vehicle_filepath -> vehicle_dynamics_filepath
0bfe688
@Gamenot
Move MACOS gui BulletClient.
8f50744
@Gamenot
Remove color dependency on VEHICLE_CONFIGS.
82e02a0
@Gamenot
Add visual_model_filepath argument to vehicle creation.
894fb4b
@Gamenot
Fix missing argument.
5c926bd
@Gamenot
Fix plan frame generation.
a3c414f
@Gamenot
Update changelog.
3672b27
@Gamenot
Add type checking improvements.
e2c1931
@Gamenot
Clean up vehicle methods.
47fb5ee
@Gamenot
Use PyYAML cast.
da889fc
@Gamenot Gamenot force-pushed the tucker/add_truck_variations branch from ad570c8 to a2d3f17 Compare January 4, 2024 21:02
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Gamenot commented Jan 8, 2024

test-docs failing is expected until the smarts.assets module exists.

@Gamenot Gamenot merged commit 1a0edcb into master Jan 9, 2024
25 of 26 checks passed
@Gamenot Gamenot deleted the tucker/add_truck_variations branch January 9, 2024 00:25
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