这段代码npc_speed = npc_speeds[i] npc_acceleration = npc_accelerations[i] physics_control = blueprint.get_physics_control() physics_control.max_speed = npc_speed / 3.6 # convert km/h to m/s physics_control.max_acceleration = npc_acceleration blueprint.set_physics_control(physics_control)报错AttributeError: 'ActorBlueprint' object has no attribute 'get_physics_control'，请帮我修改这段代码

如果`ActorBlueprint`类中没有`get_physics_control`方法，你可以尝试使用以下代码来修改：

npc_speed = npc_speeds[i]
npc_acceleration = npc_accelerations[i]
physics_control = carla.VehiclePhysicsControl()
physics_control.max_speed = npc_speed / 3.6  # convert km/h to m/s
physics_control.max_acceleration = npc_acceleration
blueprint.set_attribute('vehicle_physics_control', physics_control)

这里我们直接创建一个`VehiclePhysicsControl`对象，然后将其属性设置为我们想要的物理属性值。最后，我们使用蓝图对象的`set_attribute`方法将其应用到蓝图上。请注意，这里的`carla`对象是Carla Python API中的一个模块，你需要先导入它，才能使用其中的类和方法。

相关问题

请帮我将这段代码改为设置8个固定的NPC代码，并加入设置每个NPC的速度和加速度以及行驶路线的代码# Spawn vehicles # -------------- batch = [] for n, transform in enumerate(spawn_points): print('n',n) print('transform',transform) if n >= args.number_of_vehicles: break blueprint = random.choice(blueprints) print('blueprints的长度', len(blueprints)) print('blueprints',blueprints) print('blueprint', blueprint) if blueprint.has_attribute('color'): color = random.choice(blueprint.get_attribute('color').recommended_values) blueprint.set_attribute('color', color) if blueprint.has_attribute('driver_id'): driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values) blueprint.set_attribute('driver_id', driver_id) blueprint.set_attribute('role_name', 'autopilot') # prepare the light state of the cars to spawn light_state = vls.NONE if args.car_lights_on: light_state = vls.Position | vls.LowBeam | vls.LowBeam # spawn the cars and set their autopilot and light state all together batch.append(SpawnActor(blueprint, transform) .then(SetAutopilot(FutureActor, True, traffic_manager.get_port())) .then(SetVehicleLightState(FutureActor, light_state))) for response in client.apply_batch_sync(batch, synchronous_master): if response.error: logging.error(response.error) else: vehicles_list.append(response.actor_id)

以下是修改后的代码，设置8个固定的NPC，每个NPC的速度、加速度和行驶路线：

# Spawn vehicles
# --------------
batch = []
npc_blueprints = ["vehicle.nissan.micra", "vehicle.audi.a2", "vehicle.tesla.model3", "vehicle.bmw.grandtourer", 
                  "vehicle.toyota.prius", "vehicle.nissan.patrol", "vehicle.audi.etron", "vehicle.mercedes-benz.coupe"]
npc_speeds = [20, 25, 30, 35, 40, 45, 50, 55]  # in km/h
npc_accelerations = [1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5]  # in m/s^2
npc_waypoints = [[-100, -100, 0], [0, -100, 0], [100, -100, 0], [100, 0, 0], [100, 100, 0], [0, 100, 0], [-100, 100, 0], [-100, 0, 0]]

for i in range(8):
    blueprint = world.get_blueprint_library().find(npc_blueprints[i])
    color = random.choice(blueprint.get_attribute('color').recommended_values)
    blueprint.set_attribute('color', color)
    driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
    blueprint.set_attribute('driver_id', driver_id)
    blueprint.set_attribute('role_name', 'autopilot')

    transform = carla.Transform(carla.Location(x=npc_waypoints[i][0], y=npc_waypoints[i][1], z=npc_waypoints[i][2]), 
                                carla.Rotation(yaw=0))

    # set the speed and acceleration of the NPC
    npc_speed = npc_speeds[i]
    npc_acceleration = npc_accelerations[i]
    physics_control = blueprint.get_physics_control()
    physics_control.max_speed = npc_speed / 3.6  # convert km/h to m/s
    physics_control.max_acceleration = npc_acceleration
    blueprint.set_physics_control(physics_control)

    # prepare the light state of the cars to spawn
    light_state = vls.NONE
    if args.car_lights_on:
        light_state = vls.Position | vls.LowBeam | vls.LowBeam

    # spawn the cars and set their autopilot and light state all together
    batch.append(SpawnActor(blueprint, transform)
                 .then(SetAutopilot(FutureActor, True, traffic_manager.get_port()))
                 .then(SetVehicleLightState(FutureActor, light_state)))

for response in client.apply_batch_sync(batch, synchronous_master):
    if response.error:
        logging.error(response.error)
    else:
        vehicles_list.append(response.actor_id)

其中，`npc_blueprints` 为8种固定的NPC车辆蓝图，`npc_speeds` 和 `npc_accelerations` 分别为8个NPC的速度和加速度，`npc_waypoints` 为8个NPC的行驶路线，每个路线由一组三维坐标表示。在循环中，通过 `world.get_blueprint_library().find()` 获取对应的蓝图，然后设置车辆的颜色、驾驶员ID、角色名等属性，并设置车辆的初始位置和朝向。接着，通过 `blueprint.get_physics_control()` 获取车辆的物理属性控制器，并设置车辆的最大速度和最大加速度，最后通过 `blueprint.set_physics_control()` 设置车辆的物理属性。最后，再将所有车辆一起生成并设置自动驾驶和车灯状态。

请帮我说明这段代码并未成功创建出8个npc车辆的原因 batch = [] npc_blueprints = ["vehicle.nissan.micra", "vehicle.audi.a2", "vehicle.tesla.model3", "vehicle.bmw.grandtourer", "vehicle.toyota.prius", "vehicle.nissan.patrol", "vehicle.audi.etron", "vehicle.toyota.prius"] npc_speeds = [20, 25, 30, 35, 40, 35, 30, 20] # in km/h npc_accelerations = [1.0, 1.5, 2.0, 2, 2.0, 1.5, 1.0, 1.5] # in m/s^2 npc_waypoints = [[-8871.099609, -11956.523438, 27.530716], [-8504.081055, -5407.712402, 27.530716], [6426.287598, 741.497681, 45.0], [10597.994141, -339.751038, 27.530716], [9715.866211, 430.881317, 27.530716], [17607.03125, -240.132263, 27.530716], [20708.113281, -518.995544, 27.531448], [24519.421875, 2809.513916, 27.530716]] for i in range(8): blueprint = world.get_blueprint_library().find(npc_blueprints[i]) color = random.choice(blueprint.get_attribute('color').recommended_values) blueprint.set_attribute('color', color) if blueprint.has_attribute('driver_id'): driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values) blueprint.set_attribute('driver_id', driver_id) blueprint.set_attribute('role_name', 'autopilot') transform = carla.Transform( carla.Location(x=npc_waypoints[i][0], y=npc_waypoints[i][1], z=npc_waypoints[i][2]), carla.Rotation(yaw=0)) print('aaaaa') # prepare the light state of the cars to spawn light_state = vls.NONE if args.car_lights_on: light_state = vls.Position | vls.LowBeam | vls.LowBeam # spawn the cars and set their autopilot and light state all together batch.append(SpawnActor(blueprint, transform) .then(SetAutopilot(FutureActor, True, traffic_manager.get_port())) .then(SetVehicleLightState(FutureActor, light_state))) for response in client.apply_batch_sync(batch, synchronous_master): if response.error: logging.error(response.error) else: vehicles_list.append(response.actor_id) print("*********************************************") for vehicle_id in vehicles_list: print('vehicles_list',vehicles_list) print('vehicle_id',vehicle_id) print(world.get_actor(vehicle_id)) print(world.get_actor(vehicle_id).get_location()) print("****")

您提供的代码中，创建车辆的部分看起来是正确的。但是，我注意到您在循环中使用了未定义的变量 `FutureActor`，这可能导致错误。我建议您将 `FutureActor` 替换为 `response.actor_id`，以便在下一步操作中使用正确的车辆ID。

此外，您在循环中打印 `vehicles_list` 的值，这会在每次迭代时将整个列表打印出来。这可能会使输出变得混乱。相反，您可以在循环外打印 `vehicles_list` 的值以查看整个列表。

最后，如果您的代码仍然无法成功创建车辆，请提供更多上下文信息，例如是否有任何错误信息或日志输出。