Fdomf/docs (#1948)
* Added c++ doc section, Updated bp_library,docs improvements * Minor changes * Docs updates * Added c++ doc section, Updated bp_library,docs improvements * Minor changes * Docs updates * Updated jenkins file - master rebase * Fixed doxygen link * Waypoint tutorial extended and fixes * Fixes
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<h1>Blueprint Library</h1>
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<h1>Blueprint Library</h1>
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The Blueprint Library ([`carla.BlueprintLibrary`](/python_api/#carlablueprintlibrary-class)) is a summary of all [`carla.ActorBlueprint`](/python_api/#carla.ActorBlueprint) and its attributes ([`carla.ActorAttribute`](/python_api/#carla.ActorAttribute)) available to the user in CARLA.
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Here is an example code for printing all actor blueprints and their attributes:
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```py
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blueprints = [bp for bp in world.get_blueprint_library().filter('*')]
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for blueprint in blueprints:
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print(blueprint.id)
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for attr in blueprint:
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print(attr)
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```
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Check out our [blueprint tutorial](/python_api_tutorial/#blueprints).
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### walker
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### walker
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- <font color="#737373">walker.pedestrian.0001</font>
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- **<font color="#498efc">walker.pedestrian.0001</font>**
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- **Attributes:**
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- <font color="#737373">walker.pedestrian.0002</font>
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- <font color="#737373">walker.pedestrian.0003</font>
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- `age` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">walker.pedestrian.0004</font>
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- **<font color="#498efc">walker.pedestrian.0002</font>**
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- **Attributes:**
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- <font color="#737373">walker.pedestrian.0005</font>
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- <font color="#737373">walker.pedestrian.0006</font>
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- `age` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">walker.pedestrian.0007</font>
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- **<font color="#498efc">walker.pedestrian.0003</font>**
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- **Attributes:**
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- <font color="#737373">walker.pedestrian.0008</font>
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- <font color="#737373">walker.pedestrian.0009</font>
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- `age` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">walker.pedestrian.0010</font>
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- **<font color="#498efc">walker.pedestrian.0004</font>**
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- **Attributes:**
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- <font color="#737373">walker.pedestrian.0011</font>
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- <font color="#737373">walker.pedestrian.0012</font>
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- `age` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">walker.pedestrian.0013</font>
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- **<font color="#498efc">walker.pedestrian.0005</font>**
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- **Attributes:**
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- <font color="#737373">walker.pedestrian.0014</font>
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0006</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0007</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0008</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0009</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0010</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0011</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0012</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0013</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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- **<font color="#498efc">walker.pedestrian.0014</font>**
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- **Attributes:**
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- `gender` (String)
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- `is_invincible` (Bool) – Modifiable
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- `age` (String)
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- `role_name` (String) – Modifiable
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### static
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### static
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- <font color="#737373">static.prop.advertisement</font>
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- **<font color="#498efc">static.prop.advertisement</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.atm</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.barbeque</font>
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- **<font color="#498efc">static.prop.atm</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.barrel</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.bench01</font>
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- **<font color="#498efc">static.prop.barbeque</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.bench02</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.bench03</font>
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- **<font color="#498efc">static.prop.barrel</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.bike helmet</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.bikeparking</font>
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- **<font color="#498efc">static.prop.bench01</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.bin</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.box01</font>
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- **<font color="#498efc">static.prop.bench02</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.box02</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.box03</font>
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- **<font color="#498efc">static.prop.bench03</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.briefcase</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.brokentile01</font>
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- **<font color="#498efc">static.prop.bike helmet</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.brokentile02</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.brokentile03</font>
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- **<font color="#498efc">static.prop.bikeparking</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.brokentile04</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.busstop</font>
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- **<font color="#498efc">static.prop.bin</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.chainbarrier</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.chainbarrierend</font>
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- **<font color="#498efc">static.prop.box01</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.clothcontainer</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.clothesline</font>
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- **<font color="#498efc">static.prop.box02</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.colacan</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.constructioncone</font>
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- **<font color="#498efc">static.prop.box03</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.container</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.creasedbox01</font>
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- **<font color="#498efc">static.prop.briefcase</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.creasedbox02</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.creasedbox03</font>
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- **<font color="#498efc">static.prop.brokentile01</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.dirtdebris01</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.dirtdebris02</font>
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- **<font color="#498efc">static.prop.brokentile02</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.dirtdebris03</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.doghouse</font>
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- **<font color="#498efc">static.prop.brokentile03</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.fountain</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.garbage01</font>
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- **<font color="#498efc">static.prop.brokentile04</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.garbage02</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.garbage03</font>
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- **<font color="#498efc">static.prop.busstop</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.garbage04</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.garbage05</font>
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- **<font color="#498efc">static.prop.chainbarrier</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.garbage06</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.gardenlamp</font>
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- **<font color="#498efc">static.prop.chainbarrierend</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.glasscontainer</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.gnome</font>
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- **<font color="#498efc">static.prop.clothcontainer</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.guitarcase</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.ironplank</font>
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- **<font color="#498efc">static.prop.clothesline</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.kiosk_01</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.mailbox</font>
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- **<font color="#498efc">static.prop.colacan</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.maptable</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.mobile</font>
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- **<font color="#498efc">static.prop.constructioncone</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.motorhelmet</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.pergola</font>
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- **<font color="#498efc">static.prop.container</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.plantpot01</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.plantpot02</font>
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- **<font color="#498efc">static.prop.creasedbox01</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.plantpot03</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.plantpot04</font>
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- **<font color="#498efc">static.prop.creasedbox02</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.plantpot05</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.plantpot06</font>
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- **<font color="#498efc">static.prop.creasedbox03</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.plantpot07</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.plantpot08</font>
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- **<font color="#498efc">static.prop.dirtdebris01</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.plasticbag</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.plasticchair</font>
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- **<font color="#498efc">static.prop.dirtdebris02</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.plastictable</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.platformgarbage01</font>
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- **<font color="#498efc">static.prop.dirtdebris03</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.purse</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.shop01</font>
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- **<font color="#498efc">static.prop.doghouse</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.shoppingbag</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.shoppingcart</font>
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- **<font color="#498efc">static.prop.fountain</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.shoppingtrolley</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.slide</font>
|
- **<font color="#498efc">static.prop.garbage01</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.streetbarrier</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.streetfountain</font>
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- **<font color="#498efc">static.prop.garbage02</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.streetsign</font>
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- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.streetsign01</font>
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- **<font color="#498efc">static.prop.garbage03</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.streetsign04</font>
|
- `size` (String)
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||||||
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.swing</font>
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- **<font color="#498efc">static.prop.garbage04</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.swingcouch</font>
|
- `size` (String)
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.table</font>
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- **<font color="#498efc">static.prop.garbage05</font>**
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- **Attributes:**
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- <font color="#737373">static.prop.trafficcone01</font>
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- `size` (String)
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||||||
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- `role_name` (String) – Modifiable
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- <font color="#737373">static.prop.trafficcone02</font>
|
- **<font color="#498efc">static.prop.garbage06</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">static.prop.trafficwarning</font>
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">static.prop.trampoline</font>
|
- **<font color="#498efc">static.prop.gardenlamp</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">static.prop.trashbag</font>
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">static.prop.trashcan01</font>
|
- **<font color="#498efc">static.prop.glasscontainer</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">static.prop.trashcan02</font>
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">static.prop.trashcan03</font>
|
- **<font color="#498efc">static.prop.gnome</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">static.prop.trashcan04</font>
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">static.prop.trashcan05</font>
|
- **<font color="#498efc">static.prop.guitarcase</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">static.prop.travelcase</font>
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">static.prop.vendingmachine</font>
|
- **<font color="#498efc">static.prop.ironplank</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">static.prop.wateringcan</font>
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">static.trigger.friction</font>
|
- **<font color="#498efc">static.prop.kiosk_01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.mailbox</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.maptable</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.mobile</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.motorhelmet</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.pergola</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot02</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot03</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot04</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot05</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot06</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot07</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plantpot08</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plasticbag</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plasticchair</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.plastictable</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.platformgarbage01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.purse</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.shop01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.shoppingbag</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.shoppingcart</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.shoppingtrolley</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.slide</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.streetbarrier</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.streetfountain</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.streetsign</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.streetsign01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.streetsign04</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.swing</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.swingcouch</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.table</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trafficcone01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trafficcone02</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trafficwarning</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trampoline</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trashbag</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trashcan01</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trashcan02</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trashcan03</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trashcan04</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.trashcan05</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.travelcase</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.vendingmachine</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.prop.wateringcan</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `size` (String)
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">static.trigger.friction</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `extent_y` (Float) – Modifiable
|
||||||
|
- `extent_z` (Float) – Modifiable
|
||||||
|
- `extent_x` (Float) – Modifiable
|
||||||
|
- `friction` (Float) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
|
||||||
### controller
|
### controller
|
||||||
- <font color="#737373">controller.ai.walker</font>
|
- **<font color="#498efc">controller.ai.walker</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
|
||||||
### sensor
|
### sensor
|
||||||
- <font color="#737373">sensor.camera.depth</font>
|
- **<font color="#498efc">sensor.camera.depth</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">sensor.camera.rgb</font>
|
- `fov` (Float) – Modifiable
|
||||||
|
- `image_size_y` (Int) – Modifiable
|
||||||
- <font color="#737373">sensor.camera.semantic_segmentation</font>
|
- `sensor_tick` (Float) – Modifiable
|
||||||
|
- `image_size_x` (Int) – Modifiable
|
||||||
- <font color="#737373">sensor.lidar.ray_cast</font>
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.camera.rgb</font>**
|
||||||
- <font color="#737373">sensor.other.collision</font>
|
- **Attributes:**
|
||||||
|
- `motion_blur_max_distortion` (Float) – Modifiable
|
||||||
- <font color="#737373">sensor.other.gnss</font>
|
- `motion_blur_intensity` (Float) – Modifiable
|
||||||
|
- `gamma` (Float) – Modifiable
|
||||||
- <font color="#737373">sensor.other.lane_invasion</font>
|
- `enable_postprocess_effects` (Bool) – Modifiable
|
||||||
|
- `fov` (Float) – Modifiable
|
||||||
- <font color="#737373">sensor.other.obstacle</font>
|
- `image_size_y` (Int) – Modifiable
|
||||||
|
- `image_size_x` (Int) – Modifiable
|
||||||
|
- `motion_blur_min_object_screen_size` (Float) – Modifiable
|
||||||
|
- `sensor_tick` (Float) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.camera.semantic_segmentation</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `fov` (Float) – Modifiable
|
||||||
|
- `image_size_y` (Int) – Modifiable
|
||||||
|
- `sensor_tick` (Float) – Modifiable
|
||||||
|
- `image_size_x` (Int) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.lidar.ray_cast</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `lower_fov` (Float) – Modifiable
|
||||||
|
- `upper_fov` (Float) – Modifiable
|
||||||
|
- `rotation_frequency` (Float) – Modifiable
|
||||||
|
- `points_per_second` (Int) – Modifiable
|
||||||
|
- `range` (Float) – Modifiable
|
||||||
|
- `channels` (Int) – Modifiable
|
||||||
|
- `sensor_tick` (Float) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.other.collision</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.other.gnss</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.other.lane_invasion</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">sensor.other.obstacle</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `debug_linetrace` (Bool) – Modifiable
|
||||||
|
- `hit_radius` (Float) – Modifiable
|
||||||
|
- `distance` (Float) – Modifiable
|
||||||
|
- `sensor_tick` (Float) – Modifiable
|
||||||
|
- `only_dynamics` (Bool) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
|
||||||
### vehicle
|
### vehicle
|
||||||
- <font color="#737373">vehicle.audi.a2</font>
|
- **<font color="#498efc">vehicle.audi.a2</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">vehicle.audi.etron</font>
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
- <font color="#737373">vehicle.audi.tt</font>
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
- <font color="#737373">vehicle.bh.crossbike</font>
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.audi.etron</font>**
|
||||||
- <font color="#737373">vehicle.bmw.grandtourer</font>
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
- <font color="#737373">vehicle.bmw.isetta</font>
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
- <font color="#737373">vehicle.carlamotors.carlacola</font>
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">vehicle.chevrolet.impala</font>
|
- **<font color="#498efc">vehicle.audi.tt</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">vehicle.citroen.c3</font>
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
- <font color="#737373">vehicle.diamondback.century</font>
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
- <font color="#737373">vehicle.dodge_charger.police</font>
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.bh.crossbike</font>**
|
||||||
- <font color="#737373">vehicle.ford.mustang</font>
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
- <font color="#737373">vehicle.gazelle.omafiets</font>
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `driver_id` (Int) – Modifiable
|
||||||
- <font color="#737373">vehicle.harley-davidson.low rider</font>
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
- <font color="#737373">vehicle.jeep.wrangler_rubicon</font>
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.bmw.grandtourer</font>**
|
||||||
- <font color="#737373">vehicle.kawasaki.ninja</font>
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
- <font color="#737373">vehicle.lincoln.mkz2017</font>
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
- <font color="#737373">vehicle.mercedes-benz.coupe</font>
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">vehicle.mini.cooperst</font>
|
- **<font color="#498efc">vehicle.bmw.isetta</font>**
|
||||||
|
- **Attributes:**
|
||||||
- <font color="#737373">vehicle.nissan.micra</font>
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
- <font color="#737373">vehicle.nissan.patrol</font>
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
- <font color="#737373">vehicle.seat.leon</font>
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.carlamotors.carlacola</font>**
|
||||||
- <font color="#737373">vehicle.tesla.model3</font>
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
- <font color="#737373">vehicle.toyota.prius</font>
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
- <font color="#737373">vehicle.volkswagen.t2</font>
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
- <font color="#737373">vehicle.yamaha.yzf</font>
|
- **<font color="#498efc">vehicle.chevrolet.impala</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.citroen.c3</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.diamondback.century</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `driver_id` (Int) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.dodge_charger.police</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.ford.mustang</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.gazelle.omafiets</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `driver_id` (Int) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.harley-davidson.low rider</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `driver_id` (Int) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.jeep.wrangler_rubicon</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.kawasaki.ninja</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `driver_id` (Int) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.lincoln.mkz2017</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.mercedes-benz.coupe</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.mini.cooperst</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.nissan.micra</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.nissan.patrol</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.seat.leon</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.tesla.model3</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.toyota.prius</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.volkswagen.t2</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `object_type` (String)
|
||||||
|
- `color` (RGBColor) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
- **<font color="#498efc">vehicle.yamaha.yzf</font>**
|
||||||
|
- **Attributes:**
|
||||||
|
- `number_of_wheels` (Int)
|
||||||
|
- `object_type` (String)
|
||||||
|
- `sticky_control` (Bool) – Modifiable
|
||||||
|
- `driver_id` (Int) – Modifiable
|
||||||
|
- `role_name` (String) – Modifiable
|
||||||
|
|
|
@ -35,7 +35,7 @@ type of data. However, the data produced by a sensor comes always tagged with:
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| --------------------- | ------ | ----------- |
|
| --------------------- | ------ | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
|
|
||||||
Most sensor data objects, like images and lidar measurements, have a function
|
Most sensor data objects, like images and lidar measurements, have a function
|
||||||
|
@ -91,7 +91,7 @@ objects.
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| --------------------- | ---- | ----------- |
|
| --------------------- | ---- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `width` | int | Image width in pixels |
|
| `width` | int | Image width in pixels |
|
||||||
| `height` | int | Image height in pixels |
|
| `height` | int | Image height in pixels |
|
||||||
|
@ -119,7 +119,7 @@ objects.
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| --------------------- | ---- | ----------- |
|
| --------------------- | ---- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `width` | int | Image width in pixels |
|
| `width` | int | Image width in pixels |
|
||||||
| `height` | int | Image height in pixels |
|
| `height` | int | Image height in pixels |
|
||||||
|
@ -158,7 +158,7 @@ objects.
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| --------------------- | ---- | ----------- |
|
| --------------------- | ---- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `width` | int | Image width in pixels |
|
| `width` | int | Image width in pixels |
|
||||||
| `height` | int | Image height in pixels |
|
| `height` | int | Image height in pixels |
|
||||||
|
@ -226,7 +226,7 @@ objects.
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| -------------------------- | ---------- | ----------- |
|
| -------------------------- | ---------- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `horizontal_angle` | float | Angle in XY plane of the lidar this frame (in degrees) |
|
| `horizontal_angle` | float | Angle in XY plane of the lidar this frame (in degrees) |
|
||||||
| `channels` | int | Number of channels (lasers) of the lidar |
|
| `channels` | int | Number of channels (lasers) of the lidar |
|
||||||
|
@ -268,7 +268,7 @@ object for each collision registered
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| ---------------------- | ----------- | ----------- |
|
| ---------------------- | ----------- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `actor` | carla.Actor | Actor that measured the collision ("self" actor) |
|
| `actor` | carla.Actor | Actor that measured the collision ("self" actor) |
|
||||||
| `other_actor` | carla.Actor | Actor against whom we collide |
|
| `other_actor` | carla.Actor | Actor against whom we collide |
|
||||||
|
@ -300,7 +300,7 @@ object for each lane marking crossed by the actor
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| ----------------------- | ----------- | ----------- |
|
| ----------------------- | ----------- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `actor` | carla.Actor | Actor that invaded another lane ("self" actor) |
|
| `actor` | carla.Actor | Actor that invaded another lane ("self" actor) |
|
||||||
| `crossed_lane_markings` | carla.LaneMarking list | List of lane markings that have been crossed |
|
| `crossed_lane_markings` | carla.LaneMarking list | List of lane markings that have been crossed |
|
||||||
|
@ -319,7 +319,7 @@ objects.
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| ---------------------- | ----------- | ----------- |
|
| ---------------------- | ----------- | ----------- |
|
||||||
| `frame` | int | Frame number when the measurement took place |
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
| `transform` | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
|
||||||
| `latitude` | double | Latitude position of the actor |
|
| `latitude` | double | Latitude position of the actor |
|
||||||
| `longitude` | double | Longitude position of the actor |
|
| `longitude` | double | Longitude position of the actor |
|
||||||
|
@ -347,6 +347,9 @@ objects.
|
||||||
|
|
||||||
| Sensor data attribute | Type | Description |
|
| Sensor data attribute | Type | Description |
|
||||||
| ---------------------- | ----------- | ----------- |
|
| ---------------------- | ----------- | ----------- |
|
||||||
|
| `frame` | int | Frame number when the measurement took place |
|
||||||
|
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode |
|
||||||
|
| `transform` | carla.Transform | Transform in world |
|
||||||
| `actor` | carla.Actor | Actor that detected the obstacle ("self" actor) |
|
| `actor` | carla.Actor | Actor that detected the obstacle ("self" actor) |
|
||||||
| `other_actor` | carla.Actor | Actor detected as obstacle |
|
| `other_actor` | carla.Actor | Actor detected as obstacle |
|
||||||
| `distance ` | float | Distance from actor to other_actor |
|
| `distance` | float | Distance from actor to other_actor |
|
||||||
|
|
|
@ -4,12 +4,6 @@ Before you start running your own experiments there are few details to take into
|
||||||
account at the time of configuring your simulation. In this document we cover
|
account at the time of configuring your simulation. In this document we cover
|
||||||
the most important ones.
|
the most important ones.
|
||||||
|
|
||||||
!!! tip
|
|
||||||
Use [PythonAPI/util/config.py][configlink] to configure the simulator
|
|
||||||
from the command-line.
|
|
||||||
|
|
||||||
[configlink]: https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/config.py
|
|
||||||
|
|
||||||
Changing the map
|
Changing the map
|
||||||
----------------
|
----------------
|
||||||
|
|
||||||
|
@ -41,7 +35,7 @@ Vulkan _(if installed)_ is the default graphics API used by Unreal Engine and CA
|
||||||
It consumes more memory but performs faster.
|
It consumes more memory but performs faster.
|
||||||
On the other hand, OpenGL is less memory consuming but performs slower than Vulkan.
|
On the other hand, OpenGL is less memory consuming but performs slower than Vulkan.
|
||||||
|
|
||||||
!!!note
|
!!! note
|
||||||
Vulkan is an experimental build so it may have some bugs when running the simulator.
|
Vulkan is an experimental build so it may have some bugs when running the simulator.
|
||||||
|
|
||||||
OpenGL API can be selected with the flag `-opengl`.
|
OpenGL API can be selected with the flag `-opengl`.
|
||||||
|
@ -192,10 +186,38 @@ at the example [synchronous_mode.py][syncmodelink].
|
||||||
Command-line options
|
Command-line options
|
||||||
--------------------------
|
--------------------------
|
||||||
|
|
||||||
|
!!! important
|
||||||
|
Some of the command-line options are not available in `Linux` due to the "Shipping" build. Therefore, the use of
|
||||||
|
[`config.py`][configlink] script is needed to configure the simulation.
|
||||||
|
|
||||||
|
[configlink]: https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/config.py
|
||||||
|
|
||||||
|
Some configuration examples:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
> ./config.py --no-rendering # Disable rendering
|
||||||
|
> ./config.py --map Town05 # Change map
|
||||||
|
> ./config.py --weather ClearNoon # Change weather
|
||||||
|
...
|
||||||
|
```
|
||||||
|
|
||||||
|
To check all the available configurations, run the following command:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
> ./config.py --help
|
||||||
|
```
|
||||||
|
|
||||||
|
Commands directly available:
|
||||||
|
|
||||||
* `-carla-rpc-port=N` Listen for client connections at port N, streaming port is set to N+1 by default.
|
* `-carla-rpc-port=N` Listen for client connections at port N, streaming port is set to N+1 by default.
|
||||||
* `-carla-streaming-port=N` Specify the port for sensor data streaming, use 0 to get a random unused port.
|
* `-carla-streaming-port=N` Specify the port for sensor data streaming, use 0 to get a random unused port.
|
||||||
* `-quality-level={Low,Epic}` Change graphics quality level.
|
* `-quality-level={Low,Epic}` Change graphics quality level.
|
||||||
* `-no-rendering` Disable rendering.
|
|
||||||
* [Full list of UE4 command-line arguments][ue4clilink] (note that many of these won't work in the release version).
|
* [Full list of UE4 command-line arguments][ue4clilink] (note that many of these won't work in the release version).
|
||||||
|
|
||||||
|
Example:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
> ./CarlaUE4.sh -carla-rpc-port=3000
|
||||||
|
```
|
||||||
|
|
||||||
[ue4clilink]: https://docs.unrealengine.com/en-US/Programming/Basics/CommandLineArguments
|
[ue4clilink]: https://docs.unrealengine.com/en-US/Programming/Basics/CommandLineArguments
|
||||||
|
|
|
@ -0,0 +1,37 @@
|
||||||
|
|
||||||
|
<h1>C++ Reference </h1>
|
||||||
|
We use Doxygen to generate the documentation of our C++ code:
|
||||||
|
|
||||||
|
[Libcarla/Source](http://carla.org/Doxygen/html/dir_b9166249188ce33115fd7d5eed1849f2.html)<br>
|
||||||
|
[Unreal/CarlaUE4/Source](http://carla.org/Doxygen/html/dir_733e9da672a36443d0957f83d26e7dbf.html)<br>
|
||||||
|
[Unreal/CarlaUE4/Carla/Plugins](http://carla.org/Doxygen/html/dir_8fc34afb5f07a67966c78bf5319f94ae.html)
|
||||||
|
|
||||||
|
The generated documentation is available at this link **<http://carla.org/Doxygen/html/index.html>**
|
||||||
|
|
||||||
|
!!! note
|
||||||
|
Document updates are done automatically by GitHub.
|
||||||
|
|
||||||
|
### Create doxygen documentation
|
||||||
|
|
||||||
|
!!! important
|
||||||
|
[Doxygen](http://www.doxygen.nl/index.html) is required to generate the documentation
|
||||||
|
and [Graphviz](https://www.graphviz.org/) for the graph drawing toolkit.
|
||||||
|
|
||||||
|
1- Install doxygen and graphviz with the following command:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
# linux
|
||||||
|
> sudo apt-get install doxygen graphviz
|
||||||
|
```
|
||||||
|
|
||||||
|
2- Once installed, go to the project root folder where the _Doxyfile_ file is situated and
|
||||||
|
run the following command:
|
||||||
|
|
||||||
|
```sh
|
||||||
|
> doxygen
|
||||||
|
```
|
||||||
|
|
||||||
|
It will start to build the documentation webpage.
|
||||||
|
The resulting webpage can be found at Doxygen/html/
|
||||||
|
|
||||||
|
3- Open _index.html_ in a browser. Now you have your local cpp documentation!
|
|
@ -11,13 +11,15 @@
|
||||||
Be sure that these programs are added to your environment path, so you can use them from your command prompt.
|
Be sure that these programs are added to your environment path, so you can use them from your command prompt.
|
||||||
|
|
||||||
!!! important
|
!!! important
|
||||||
If make complins about missing libintl3.dll or/and libiconv2.dll please donwload the [dependencies](http://gnuwin32.sourceforge.net/downlinks/make-dep-zip.php) and extract the bin contento into the make installation path.
|
If make complains about missing libintl3.dll or/and libiconv2.dll please donwload the [dependencies](http://gnuwin32.sourceforge.net/downlinks/make-dep-zip.php) and extract the bin contento into the make installation path.
|
||||||
|
|
||||||
Also:
|
Also:
|
||||||
|
|
||||||
- [Unreal Engine](https://www.unrealengine.com/download) (v4.22.x)
|
- [Unreal Engine](https://www.unrealengine.com/download) (v4.22.x)
|
||||||
- [Visual Studio](https://www.visualstudio.com/downloads/) (2017)
|
- [Visual Studio](https://www.visualstudio.com/downloads/) (2017)
|
||||||
|
|
||||||
|
Make sure all the modules of the **requirements.txt** files are installed.
|
||||||
|
|
||||||
<h3>Environment Setup</h3>
|
<h3>Environment Setup</h3>
|
||||||
In order to build CARLA you must **enable the x64 Visual C++ Toolset**. The Windows 8.1 SDK is also required for installation.
|
In order to build CARLA you must **enable the x64 Visual C++ Toolset**. The Windows 8.1 SDK is also required for installation.
|
||||||
I recommend to use this environment for everything you do in this tutorial.
|
I recommend to use this environment for everything you do in this tutorial.
|
||||||
|
@ -39,10 +41,10 @@ and get in the created folder:
|
||||||
cd carla
|
cd carla
|
||||||
```
|
```
|
||||||
|
|
||||||
<h3>Download Carla contents</h3>
|
<h3>Download CARLA contents</h3>
|
||||||
Depending on the Carla version that you are unsing download one of the links that you can find in `\Util\ContentVersions.txt` and extract the content to `Unreal\CarlaUE4\Content\Carla`, if the path doesn't exist, create it.
|
Depending on the Carla version that you are unsing download one of the links that you can find in `\Util\ContentVersions.txt` and extract the content to `Unreal\CarlaUE4\Content\Carla`, if the path doesn't exist, create it.
|
||||||
|
|
||||||
# Build Carla
|
# Build CARLA
|
||||||
---
|
---
|
||||||
|
|
||||||
Once you have downloaded the repo and extract the Carla contents you can start with the automatic build. The process may take a while, it will download and install the necessary libraries (Boost, RPCLib and googletest). Expect 20-40 minutes, depending on your hardware and internet connection. If you get any error comment on [GitHub #647](https://github.com/carla-simulator/carla/issues/647) issue or just ask on the [Windows Discord channel](https://discord.gg/42KJdRj).
|
Once you have downloaded the repo and extract the Carla contents you can start with the automatic build. The process may take a while, it will download and install the necessary libraries (Boost, RPCLib and googletest). Expect 20-40 minutes, depending on your hardware and internet connection. If you get any error comment on [GitHub #647](https://github.com/carla-simulator/carla/issues/647) issue or just ask on the [Windows Discord channel](https://discord.gg/42KJdRj).
|
||||||
|
@ -68,16 +70,16 @@ Example of building Carla 0.9.0 for first time:
|
||||||
4) make launch
|
4) make launch
|
||||||
```
|
```
|
||||||
|
|
||||||
# Update Carla
|
# Update CARLA
|
||||||
---
|
---
|
||||||
|
|
||||||
Every new release of CARLA we release a new package with the latest changes in the CARLA assets. To download the latest version and recompile CARLA, run:
|
Every new release of CARLA we release a new package with the latest changes in the CARLA assets. To download the latest version and recompile CARLA, run:
|
||||||
|
|
||||||
```cmd
|
```cmd
|
||||||
1) make clean # Deletes all the binaries and temporals generated by the build system
|
1) make clean # Deletes all the binaries and temporals generated by the build system
|
||||||
2) git pull # Download the las Carla modifications
|
2) git pull # Download the last CARLA modifications
|
||||||
3) Download the latest version of assets (if needed)
|
3) Download the latest version of assets (if needed)
|
||||||
4) make launch # Build and launch Carla
|
4) make launch # Build and launch CARLA
|
||||||
```
|
```
|
||||||
|
|
||||||
# Possible build errors
|
# Possible build errors
|
||||||
|
|
|
@ -21,7 +21,8 @@
|
||||||
<h3>Advanced topics</h3>
|
<h3>Advanced topics</h3>
|
||||||
|
|
||||||
* [Python API reference](python_api.md)
|
* [Python API reference](python_api.md)
|
||||||
* [Blueprint Library] (bp_library.md)
|
* [C++ Reference](cpp_reference.md)
|
||||||
|
* [Blueprint Library](bp_library.md)
|
||||||
* [Running without display and selecting GPUs](carla_headless.md)
|
* [Running without display and selecting GPUs](carla_headless.md)
|
||||||
* [Running in a Docker](carla_docker.md)
|
* [Running in a Docker](carla_docker.md)
|
||||||
* [How to make a new map with RoadRunner](how_to_make_a_new_map.md)
|
* [How to make a new map with RoadRunner](how_to_make_a_new_map.md)
|
||||||
|
|
|
@ -128,16 +128,6 @@
|
||||||
- [**as_str**(**self**)](#carla.ActorAttribute.as_str) <sub>_Method_</sub>
|
- [**as_str**(**self**)](#carla.ActorAttribute.as_str) <sub>_Method_</sub>
|
||||||
- [**as_color**(**self**)](#carla.ActorAttribute.as_color) <sub>_Method_</sub>
|
- [**as_color**(**self**)](#carla.ActorAttribute.as_color) <sub>_Method_</sub>
|
||||||
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
||||||
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
|
||||||
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
|
||||||
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
|
||||||
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
|
||||||
- [**\__eq__**(**self**, **other**)](#carla.ActorAttribute.__eq__) <sub>_Method_</sub>
|
|
||||||
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
|
||||||
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
|
||||||
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
|
||||||
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
|
||||||
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
|
||||||
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
- [**\__ne__**(**self**, **other**)](#carla.ActorAttribute.__ne__) <sub>_Method_</sub>
|
||||||
- [**\__nonzero__**(**self**)](#carla.ActorAttribute.__nonzero__) <sub>_Method_</sub>
|
- [**\__nonzero__**(**self**)](#carla.ActorAttribute.__nonzero__) <sub>_Method_</sub>
|
||||||
- [**\__bool__**(**self**)](#carla.ActorAttribute.__bool__) <sub>_Method_</sub>
|
- [**\__bool__**(**self**)](#carla.ActorAttribute.__bool__) <sub>_Method_</sub>
|
||||||
|
@ -587,7 +577,7 @@ Class that defines the attachment options. See [`world.spawn_actor`](#[carla.Wo
|
||||||
---
|
---
|
||||||
|
|
||||||
## carla.BlueprintLibrary<a name="carla.BlueprintLibrary"></a> <sub><sup>_class_</sup></sub>
|
## carla.BlueprintLibrary<a name="carla.BlueprintLibrary"></a> <sub><sup>_class_</sup></sub>
|
||||||
Class that provides access to blueprints.
|
Class that provides access to [blueprints](../bp_library/).
|
||||||
|
|
||||||
<h3>Methods</h3>
|
<h3>Methods</h3>
|
||||||
- <a name="carla.BlueprintLibrary.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>)
|
- <a name="carla.BlueprintLibrary.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>)
|
||||||
|
@ -879,40 +869,10 @@ Class that defines an attribute of a [carla.ActorBlueprint](#carla.ActorBlueprin
|
||||||
- <a name="carla.ActorAttribute.as_color"></a>**<font color="#7fb800">as_color</font>**(<font color="#00a6ed">**self**</font>)
|
- <a name="carla.ActorAttribute.as_color"></a>**<font color="#7fb800">as_color</font>**(<font color="#00a6ed">**self**</font>)
|
||||||
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
||||||
- **Parameters:**
|
- **Parameters:**
|
||||||
- `other` (_bool_)
|
- `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_)
|
||||||
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_int_)
|
|
||||||
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_float_)
|
|
||||||
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_str_)
|
|
||||||
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_[carla.Color](#carla.Color)_)
|
|
||||||
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_[carla.ActorAttribute](#carla.ActorAttribute)_)
|
|
||||||
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
||||||
- **Parameters:**
|
- **Parameters:**
|
||||||
- `other` (_bool_)
|
- `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_)
|
||||||
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_int_)
|
|
||||||
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_float_)
|
|
||||||
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_str_)
|
|
||||||
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_[carla.Color](#carla.Color)_)
|
|
||||||
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
|
|
||||||
- **Parameters:**
|
|
||||||
- `other` (_[carla.ActorAttribute](#carla.ActorAttribute)_)
|
|
||||||
- <a name="carla.ActorAttribute.__nonzero__"></a>**<font color="#7fb800">\__nonzero__</font>**(<font color="#00a6ed">**self**</font>)
|
- <a name="carla.ActorAttribute.__nonzero__"></a>**<font color="#7fb800">\__nonzero__</font>**(<font color="#00a6ed">**self**</font>)
|
||||||
- <a name="carla.ActorAttribute.__bool__"></a>**<font color="#7fb800">\__bool__</font>**(<font color="#00a6ed">**self**</font>)
|
- <a name="carla.ActorAttribute.__bool__"></a>**<font color="#7fb800">\__bool__</font>**(<font color="#00a6ed">**self**</font>)
|
||||||
- <a name="carla.ActorAttribute.__int__"></a>**<font color="#7fb800">\__int__</font>**(<font color="#00a6ed">**self**</font>)
|
- <a name="carla.ActorAttribute.__int__"></a>**<font color="#7fb800">\__int__</font>**(<font color="#00a6ed">**self**</font>)
|
||||||
|
|
|
@ -60,7 +60,7 @@ blueprints also has an ID that uniquely identifies it and all the actor
|
||||||
instances created with it. Examples of IDs are "vehicle.nissan.patrol" or
|
instances created with it. Examples of IDs are "vehicle.nissan.patrol" or
|
||||||
"sensor.camera.depth".
|
"sensor.camera.depth".
|
||||||
|
|
||||||
The list of all available blueprints is kept in the **blueprint library**
|
The list of all available blueprints is kept in the [**blueprint library**](/bp_library)
|
||||||
|
|
||||||
```py
|
```py
|
||||||
blueprint_library = world.get_blueprint_library()
|
blueprint_library = world.get_blueprint_library()
|
||||||
|
@ -231,7 +231,7 @@ Where:
|
||||||
- *clutch_strength*: The clutch strength of the vehicle. Measured in Kgm^2/s
|
- *clutch_strength*: The clutch strength of the vehicle. Measured in Kgm^2/s
|
||||||
|
|
||||||
- *final_ratio*: The fixed ratio from transmission to wheels.
|
- *final_ratio*: The fixed ratio from transmission to wheels.
|
||||||
- *forward_gears*: List of `GearPhysicsControl` objects.
|
- *forward_gears*: List of [`GearPhysicsControl`](python_api.md#carla.GearPhysicsControl) objects.
|
||||||
|
|
||||||
- *mass*: The mass of the vehicle measured in Kg
|
- *mass*: The mass of the vehicle measured in Kg
|
||||||
- *drag_coefficient*: Drag coefficient of the vehicle's chassis
|
- *drag_coefficient*: Drag coefficient of the vehicle's chassis
|
||||||
|
@ -416,7 +416,7 @@ the map to provide a list of recommended locations for spawning vehicles,
|
||||||
[`map.get_spawn_points()`](python_api.md#carla.Map.get_spawn_points).
|
[`map.get_spawn_points()`](python_api.md#carla.Map.get_spawn_points).
|
||||||
|
|
||||||
However, the real power of this map API comes apparent when we introduce
|
However, the real power of this map API comes apparent when we introduce
|
||||||
waypoints. We can tell the map to give us a waypoint on the road closest to our
|
[`waypoints`](python_api.md#carla.Waypoint). We can tell the map to give us a waypoint on the road closest to our
|
||||||
vehicle
|
vehicle
|
||||||
|
|
||||||
```py
|
```py
|
||||||
|
@ -426,11 +426,35 @@ waypoint = map.get_waypoint(vehicle.get_location())
|
||||||
This waypoint's [`transform`](python_api.md#carla.Waypoint.transform) is located on a drivable lane, and it's oriented
|
This waypoint's [`transform`](python_api.md#carla.Waypoint.transform) is located on a drivable lane, and it's oriented
|
||||||
according to the road direction at that point.
|
according to the road direction at that point.
|
||||||
|
|
||||||
|
Waypoints have their unique identifier [`carla.Waypoint.id`](python_api.md#carla.Waypoint.id) based on the hash of its
|
||||||
|
[`road_id`](python_api.md#carla.Waypoint.road_id), [`section_id`](python_api.md#carla.Waypoint.section_id),
|
||||||
|
[`lane_id`](python_api.md#carla.Waypoint.lane_id) and [`s`](python_api.md#carla.Waypoint.s).
|
||||||
|
They also provide more information about lanes, such as the [`lane_type`](python_api.md#carla.Waypoint.lane_type) of the current waypoint
|
||||||
|
and if a [`lane_change`](python_api.md#carla.Waypoint.lane_change) is possible and in which direction.
|
||||||
|
|
||||||
|
```py
|
||||||
|
# Nearest waypoint on the center of a Driving or Sidewalk lane.
|
||||||
|
waypoint = map.get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Sidewalk))
|
||||||
|
# Get the current lane type (driving or sidewalk).
|
||||||
|
lane_type = waypoint.lane_type
|
||||||
|
# Get available lane change.
|
||||||
|
lane_change = waypoint.lane_change
|
||||||
|
```
|
||||||
|
|
||||||
|
Surrounding lane markings _(right / left)_ can also be accessed through the waypoint API. Therefore, it is possible to know all the information
|
||||||
|
provided by a [`carla.LaneMarking`](python_api.md#carla.LaneMarking), like the lane marking [`type`](python_api.md#carla.LaneMarkingType) and its
|
||||||
|
[`lane_change`](python_api.md#carla.LaneChange) availability.
|
||||||
|
|
||||||
|
```py
|
||||||
|
# Get right lane marking type
|
||||||
|
right_lm_type = waypoint.right_lane_marking.type
|
||||||
|
```
|
||||||
|
|
||||||
Waypoints also have function to query the "next" waypoints; this method returns
|
Waypoints also have function to query the "next" waypoints; this method returns
|
||||||
a list of waypoints at a certain distance that can be accessed from this
|
a list of waypoints at a certain distance that can be accessed from this
|
||||||
waypoint following the traffic rules. In other words, if a vehicle is placed in
|
waypoint following the traffic rules. In other words, if a vehicle is placed in
|
||||||
this waypoint, give me the list of posible locations that this vehicle can drive
|
this waypoint, give me the list of posible locations that this vehicle can drive
|
||||||
to. Let's see a practical example
|
to. Let's see a practical example:
|
||||||
|
|
||||||
```py
|
```py
|
||||||
# Retrieve the closest waypoint.
|
# Retrieve the closest waypoint.
|
||||||
|
@ -460,7 +484,7 @@ roads
|
||||||
waypoint_tuple_list = map.get_topology()
|
waypoint_tuple_list = map.get_topology()
|
||||||
```
|
```
|
||||||
|
|
||||||
this method returns a list of pairs (tuples) of waypoints, for each pair, the
|
This method returns a list of pairs (tuples) of waypoints, for each pair, the
|
||||||
first element connects with the second one. Only the minimal set of waypoints to
|
first element connects with the second one. Only the minimal set of waypoints to
|
||||||
define the topology are generated by this method, only a waypoint for each lane
|
define the topology are generated by this method, only a waypoint for each lane
|
||||||
for each road segment in the map.
|
for each road segment in the map.
|
||||||
|
|
|
@ -112,73 +112,13 @@
|
||||||
- def_name: __eq__
|
- def_name: __eq__
|
||||||
params:
|
params:
|
||||||
- param_name: other
|
- param_name: other
|
||||||
type: bool
|
type: bool / int / float / str / carla.Color / carla.ActorAttribute
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __eq__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: int
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __eq__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: float
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __eq__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: str
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __eq__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: carla.Color
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __eq__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: carla.ActorAttribute
|
|
||||||
doc: >
|
doc: >
|
||||||
# --------------------------------------
|
# --------------------------------------
|
||||||
- def_name: __ne__
|
- def_name: __ne__
|
||||||
params:
|
params:
|
||||||
- param_name: other
|
- param_name: other
|
||||||
type: bool
|
type: bool / int / float / str / carla.Color / carla.ActorAttribute
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __ne__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: int
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __ne__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: float
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __ne__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: str
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __ne__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: carla.Color
|
|
||||||
doc: >
|
|
||||||
# --------------------------------------
|
|
||||||
- def_name: __ne__
|
|
||||||
params:
|
|
||||||
- param_name: other
|
|
||||||
type: carla.ActorAttribute
|
|
||||||
doc: >
|
doc: >
|
||||||
# --------------------------------------
|
# --------------------------------------
|
||||||
- def_name: __nonzero__
|
- def_name: __nonzero__
|
||||||
|
@ -270,7 +210,7 @@
|
||||||
- class_name: BlueprintLibrary
|
- class_name: BlueprintLibrary
|
||||||
# - DESCRIPTION ------------------------
|
# - DESCRIPTION ------------------------
|
||||||
doc: >
|
doc: >
|
||||||
Class that provides access to blueprints.
|
Class that provides access to [blueprints](../bp_library/).
|
||||||
# - METHODS ----------------------------
|
# - METHODS ----------------------------
|
||||||
methods:
|
methods:
|
||||||
- def_name: find
|
- def_name: find
|
||||||
|
|
|
@ -17,6 +17,7 @@ nav:
|
||||||
- 'How to build on Windows': 'how_to_build_on_windows.md'
|
- 'How to build on Windows': 'how_to_build_on_windows.md'
|
||||||
- Advanced topics:
|
- Advanced topics:
|
||||||
- 'Python API reference': 'python_api.md'
|
- 'Python API reference': 'python_api.md'
|
||||||
|
- 'C++ reference' : 'cpp_reference.md'
|
||||||
- 'Blueprint Library': 'bp_library.md'
|
- 'Blueprint Library': 'bp_library.md'
|
||||||
- 'Running without display and selecting GPUs': 'carla_headless.md'
|
- 'Running without display and selecting GPUs': 'carla_headless.md'
|
||||||
- 'Running in a Docker': 'carla_docker.md'
|
- 'Running in a Docker': 'carla_docker.md'
|
||||||
|
|
Loading…
Reference in New Issue