Remote pc running Python API does not connect to LGSVL Sim #31
Description
Hi,
I'm following this tutorial https://www.lgsvlsimulator.com/docs/api-how-to-run-scenario/ and trying to run the API through a remote machine.
Sim machine runs Windows 10. API machine runs Linux. I could ping both machines back and forth. But I cannot run the Python API from remote machine. The code is basically stopped where the it tries to establish sim connection before print ("pass") line. The ip "195.0.0.35" is the Windows machine IP. The two machines are connected through ethernet directly.
I also added new rule for Inbound Rules and Outbound Rules on Windows 10 machine to allow TCP connection on port 8181. But that still didn't help. Can you provide some insight on this issue?
Here is the code
#!/usr/bin/env python3
#
# Copyright (c) 2020 LG Electronics, Inc.
#
# This software contains code licensed as described in LICENSE.
#
from environs import Env
import lgsvl
import time
import os
env = Env()
print("here")
# sim = lgsvl.Simulator(env.str("LGSVL__SIMULATOR_HOST", "127.0.0.1"), env.int("LGSVL__SIMULATOR_PORT", 8181))
# sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "195.0.0.35"), 8181)
sim = lgsvl.Simulator( "195.0.0.35", 8181)
print("pass")
if sim.current_scene == "BorregasAve":
sim.reset()
else:
sim.load("BorregasAve", 42)
spawns = sim.get_spawn()
layer_mask = 0
layer_mask |= 1 << 0 # 0 is the layer for the road (default)
# EGO
state = lgsvl.AgentState()
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])
spawn_state = spawns[0]
hit = sim.raycast(
spawn_state.position + forward * 40, lgsvl.Vector(0, -1, 0), layer_mask
)
spawn_state.position = hit.point
state.transform = spawn_state
state.velocity = forward * 2
ego = sim.add_agent(env.str("LGSVL__VEHICLE_0", "Jaguar2015XE (Apollo 3.0)"), lgsvl.AgentType.EGO, state)
# NPC
state = lgsvl.AgentState()
npc_position = lgsvl.Vector(-4, -1, -48)
hit = sim.raycast(npc_position, lgsvl.Vector(0, -1, 0), layer_mask)
npc_rotation = lgsvl.Vector(0, 16, 0)
state.transform.position = hit.point
state.transform.rotation = npc_rotation
npc = sim.add_agent("Sedan", lgsvl.AgentType.NPC, state)
vehicles = {
ego: "EGO",
npc: "Sedan",
}
# Executed upon receiving collision callback -- NPC is expected to drive through colliding objects
def on_collision(agent1, agent2, contact):
name1 = vehicles[agent1]
name2 = vehicles[agent2] if agent2 is not None else "OBSTACLE"
print("{} collided with {}".format(name1, name2))
ego.on_collision(on_collision)
npc.on_collision(on_collision)
# This block creates the list of waypoints that the NPC will follow
# Each waypoint is an position vector paired with the speed that the NPC will drive to it
waypoints = []
for i in range(2):
speed = 8 # if i % 2 == 0 else 12
# Waypoint angles are input as Euler angles (roll, pitch, yaw)
angle = npc_rotation
# Raycast the points onto the ground because BorregasAve is not flat
npc_position.x += 6
npc_position.z += 21
hit = sim.raycast(npc_position, lgsvl.Vector(0, -1, 0), layer_mask)
trigger = None
if i == 0:
parameters = {"max_distance": 4.0}
effector = lgsvl.TriggerEffector("WaitForDistance", parameters)
trigger = lgsvl.WaypointTrigger([effector])
wp = lgsvl.DriveWaypoint(
position=hit.point,
speed=speed,
angle=angle,
idle=0,
trigger_distance=0,
trigger=trigger,
)
waypoints.append(wp)
def on_waypoint(agent, index):
print("waypoint {} reached".format(index))
def agents_traversed_waypoints():
print("All agents traversed their waypoints.")
sim.stop()
# The above function needs to be added to the list of callbacks for the NPC
npc.on_waypoint_reached(on_waypoint)
sim.agents_traversed_waypoints(agents_traversed_waypoints)
# The NPC needs to be given the list of waypoints.
# A bool can be passed as the 2nd argument that controls whether or not the NPC loops over the waypoints (default false)
npc.follow(waypoints)
input("Press Enter to run")
sim.run()