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microsoft / AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
https://microsoft.github.io/AirSim/
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Disable collision checking in CV Mode #1088

Open kshitijgoel007 opened 6 years ago

kshitijgoel007 commented 6 years ago

I am trying to disable collision checking, both between multiple pawns and pawn with the environment. I am currently using Python Client and running all the vehicles in CV Mode. How do I disable all the collision checking functionality? (I have my own collision checker that I want to test)

sytelus commented 6 years ago

Try putting "EnableCollisionPassthrogh": true in settings.json root and let us know if it works.

kshitijgoel007 commented 6 years ago

@sytelus Works, thanks. Closing.

kshitijgoel007 commented 6 years ago

Sorry, this doesn't work. I mistakenly evaluated the above with trajectories that didn't have collisions in first place.

patrickschulte commented 6 years ago

I got the same issue. Try to change positions/poses, but it pawn with the environment. The

"EnableCollisionPassthrogh": true command did not help!

kshitijgoel007 commented 6 years ago

@sytelus Is there any update on this issue?

AloshkaD commented 6 years ago

@kshitijgoel007 a work around is to write a function that changes the state of the drone/car when a collision is detected. You can easly do that by using the info passed by collisioninfo. Here is a sample from my drone of what collision info passes

"collision_info { 'has_collided': False, 'impact_point': { 'x_val': -0.3316308557987213, 'y_val': 0.3356521427631378, 'z_val': 0.8735041618347168}, 'normal': { 'x_val': -9.536425468748e-13, 'y_val': -1.1920131453635154e-19, 'z_val': -1.0}, 'object_id': 148, 'object_name': 'Ground_5', 'penetration_depth': 0.0, 'position': { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.6751062870025635}, 'time_stamp': 1533561354892807936}"

liqimai commented 9 months ago

@sytelus Is there any update on this issue? I want to disable collisions between multiple vehicles but keep collisions with the environment, so that I can simulate tons of cars at the same time to speed up RL training.