New ConstantVelocityAgent and TM parameter (#5290)

CHANGELOG.md

@@ -1,5 +1,7 @@
 ## Latest
 
+  * Added new ConstantVelocityAgent
+  * Added new parameter to the TrafficManager, `set_desired_speed`, to set a vehicle's speed.
   * Added 4 new attributes to all vehicles:
     - `base_type` can be use as a vehicle classification. The possible values are  *car*, *truck*, *van*, *motorcycle* and *bycicle*.
     - `special_type` provides more information about the vehicle. It is currently restricted to *electric*, *emergency* and *taxi*, and not all vehicles have this attribute filled.

Docs/python_api.md

@@ -2424,6 +2424,11 @@ Sets the upper and lower boundaries for dormant actors to be respawned near the
         - `upper_bound` (_float_) - The maximum distance in meters from the hero vehicle that a dormant actor will be respawned.  
     - **Warning:** <font color="#ED2F2F">_The `upper_bound` cannot be higher than the `actor_active_distance`. The `lower_bound` cannot be less than 25.
 _</font>  
+- <a name="carla.TrafficManager.set_desired_speed"></a>**<font color="#7fb800">set_desired_speed</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**speed**</font>)  
+Sets the speed of a vehicle to the specified value.  
+    - **Parameters:**
+        - `actor` (_[carla.Actor](#carla.Actor)_) - Vehicle whose speed is being changed.  
+        - `speed` (_float_) - Desired speed at which the vehicle will move.  
 - <a name="carla.TrafficManager.set_global_distance_to_leading_vehicle"></a>**<font color="#7fb800">set_global_distance_to_leading_vehicle</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)  
 Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects.  
     - **Parameters:**

LibCarla/source/carla/trafficmanager/Constants.h

@@ -31,8 +31,8 @@ static const double DELTA_TIME_BETWEEN_DESTRUCTIONS = 10.0;
 } // namespace VehicleRemoval
 
 namespace HybridMode {
-static const float HYBRID_MODE_DT_FL = 0.1f;
-static const double HYBRID_MODE_DT = 0.1;
+static const float HYBRID_MODE_DT_FL = 0.05f;
+static const double HYBRID_MODE_DT = 0.05;
 static const double INV_HYBRID_DT = 1.0 / HYBRID_MODE_DT;
 static const float PHYSICS_RADIUS = 50.0f;
 } // namespace HybridMode

LibCarla/source/carla/trafficmanager/LocalizationStage.cpp

@@ -148,6 +148,7 @@ void LocalizationStage::Update(const unsigned long index) {
   if (!recently_not_executed_lane_change) {
     float distance_frm_previous = cg::Math::DistanceSquared(last_lane_change_swpt.at(actor_id)->GetLocation(), vehicle_location);
     done_with_previous_lane_change = distance_frm_previous > lane_change_distance;
+    if (done_with_previous_lane_change) last_lane_change_swpt.erase(actor_id);
   }
   bool auto_or_force_lane_change = parameters.GetAutoLaneChange(actor_id) || force_lane_change;
   bool front_waypoint_not_junction = !front_waypoint->CheckJunction();
@@ -503,14 +504,20 @@ void LocalizationStage::ImportPath(Path &imported_path, Buffer &waypoint_buffer,
         break;
       }
       SimpleWaypointPtr next_wp_selection = next_waypoints.at(selection_index);
-      PushWaypoint(actor_id, track_traffic, waypoint_buffer, next_wp_selection);
 
       // Remove the imported waypoint from the path if it's close to the last one.
       if (next_wp_selection->DistanceSquared(imported) < 30.0f) {
         imported_path.erase(imported_path.begin());
+        std::vector<SimpleWaypointPtr> possible_waypoints = next_wp_selection->GetNextWaypoint();
+        if (std::find(possible_waypoints.begin(), possible_waypoints.end(), imported) != possible_waypoints.end()) {
+          // If the lane is changing, only push the new waypoint
+          PushWaypoint(actor_id, track_traffic, waypoint_buffer, next_wp_selection);
+        }
         PushWaypoint(actor_id, track_traffic, waypoint_buffer, imported);
         latest_imported = imported_path.front();
         imported = local_map->GetWaypoint(latest_imported);
+      } else {
+        PushWaypoint(actor_id, track_traffic, waypoint_buffer, next_wp_selection);
       }
     }
     if (imported_path.empty()) {
@@ -656,4 +663,4 @@ ActionBuffer LocalizationStage::ComputeActionBuffer(const ActorId& actor_id) {
 }
 
 } // namespace traffic_manager
-} // namespace carla
+} // namespace carla

LibCarla/source/carla/trafficmanager/Parameters.cpp

@@ -44,6 +44,18 @@ void Parameters::SetPercentageSpeedDifference(const ActorPtr &actor, const float
 
   float new_percentage = std::min(100.0f, percentage);
   percentage_difference_from_speed_limit.AddEntry({actor->GetId(), new_percentage});
+  if (exact_desired_speed.Contains(actor->GetId())) {
+    exact_desired_speed.RemoveEntry(actor->GetId());
+  }
+}
+
+void Parameters::SetDesiredSpeed(const ActorPtr &actor, const float value) {
+
+  float new_value = std::max(0.0f, value);
+  exact_desired_speed.AddEntry({actor->GetId(), new_value});
+  if (percentage_difference_from_speed_limit.Contains(actor->GetId())) {
+    percentage_difference_from_speed_limit.RemoveEntry(actor->GetId());
+  }
 }
 
 void Parameters::SetGlobalPercentageSpeedDifference(const float percentage) {
@@ -235,6 +247,8 @@ float Parameters::GetVehicleTargetVelocity(const ActorId &actor_id, const float
 
   if (percentage_difference_from_speed_limit.Contains(actor_id)) {
     percentage_difference = percentage_difference_from_speed_limit.GetValue(actor_id);
+  } else if (exact_desired_speed.Contains(actor_id)) {
+    return exact_desired_speed.GetValue(actor_id);
   }
 
   return speed_limit * (1.0f - percentage_difference / 100.0f);

LibCarla/source/carla/trafficmanager/Parameters.h

@@ -37,8 +37,10 @@ struct ChangeLaneInfo {
 class Parameters {
 
 private:
-  /// Target velocity map for individual vehicles.
+  /// Target velocity map for individual vehicles, based on a % diffrerence from speed limit.
   AtomicMap<ActorId, float> percentage_difference_from_speed_limit;
+  /// Target velocity map for individual vehicles, based on a desired velocity.
+  AtomicMap<ActorId, float> exact_desired_speed;
   /// Global target velocity limit % difference.
   float global_percentage_difference_from_limit = 0;
   /// Map containing a set of actors to be ignored during collision detection.
@@ -104,6 +106,9 @@ public:
   /// If less than 0, it's a % increase.
   void SetPercentageSpeedDifference(const ActorPtr &actor, const float percentage);
 
+  /// Set a vehicle's exact desired velocity.
+  void SetDesiredSpeed(const ActorPtr &actor, const float value);
+
   /// Set a global % decrease in velocity with respect to the speed limit.
   /// If less than 0, it's a % increase.
   void SetGlobalPercentageSpeedDifference(float const percentage);

LibCarla/source/carla/trafficmanager/TrafficManager.h

@@ -177,6 +177,14 @@ public:
     }
   }
 
+  /// Set a vehicle's exact desired velocity.
+  void SetDesiredSpeed(const ActorPtr &actor, const float value) {
+    TrafficManagerBase* tm_ptr = GetTM(_port);
+    if(tm_ptr != nullptr){
+      tm_ptr->SetDesiredSpeed(actor, value);
+    }
+  }
+
   /// Set a global % decrease in velocity with respect to the speed limit.
   /// If less than 0, it's a % increase.
   void SetGlobalPercentageSpeedDifference(float const percentage){

LibCarla/source/carla/trafficmanager/TrafficManagerBase.h

@@ -54,6 +54,9 @@ public:
   /// If less than 0, it's a % increase.
   virtual void SetPercentageSpeedDifference(const ActorPtr &actor, const float percentage) = 0;
 
+  /// Set a vehicle's exact desired velocity.
+  virtual void SetDesiredSpeed(const ActorPtr &actor, const float value) = 0;
+
   /// Set a global % decrease in velocity with respect to the speed limit.
   /// If less than 0, it's a % increase.
   virtual void SetGlobalPercentageSpeedDifference(float const percentage) = 0;

LibCarla/source/carla/trafficmanager/TrafficManagerClient.h

@@ -81,6 +81,12 @@ public:
     _client->call("set_percentage_speed_difference", std::move(_actor), percentage);
   }
 
+  /// Set a vehicle's exact desired velocity.
+  void SetDesiredSpeed(const carla::rpc::Actor &_actor, const float value) {
+    DEBUG_ASSERT(_client != nullptr);
+    _client->call("set_desired_speed", std::move(_actor), value);
+  }
+
   /// Method to set a global % decrease in velocity with respect to the speed limit.
   /// If less than 0, it's a % increase.
   void SetGlobalPercentageSpeedDifference(const float percentage) {

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -334,6 +334,10 @@ void TrafficManagerLocal::SetGlobalPercentageSpeedDifference(const float percent
   parameters.SetGlobalPercentageSpeedDifference(percentage);
 }
 
+void TrafficManagerLocal::SetDesiredSpeed(const ActorPtr &actor, const float value) {
+  parameters.SetDesiredSpeed(actor, value);
+}
+
 /// Method to set the automatic management of the vehicle lights
 void TrafficManagerLocal::SetUpdateVehicleLights(const ActorPtr &actor, const bool do_update) {
   parameters.SetUpdateVehicleLights(actor, do_update);

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -161,6 +161,9 @@ public:
   /// If less than 0, it's a % increase.
   void SetPercentageSpeedDifference(const ActorPtr &actor, const float percentage);
 
+  /// Set a vehicle's exact desired velocity.
+  void SetDesiredSpeed(const ActorPtr &actor, const float value);
+
   /// Methos to set a global % decrease in velocity with respect to the speed limit.
   /// If less than 0, it's a % increase.
   void SetGlobalPercentageSpeedDifference(float const percentage);

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.cpp

@@ -111,6 +111,12 @@ void TrafficManagerRemote::SetPercentageSpeedDifference(const ActorPtr &_actor,
   client.SetPercentageSpeedDifference(actor, percentage);
 }
 
+void TrafficManagerRemote::SetDesiredSpeed(const ActorPtr &_actor, const float value) {
+  carla::rpc::Actor actor(_actor->Serialize());
+
+  client.SetDesiredSpeed(actor, value);
+}
+
 void TrafficManagerRemote::SetGlobalPercentageSpeedDifference(const float percentage) {
   client.SetGlobalPercentageSpeedDifference(percentage);
 }

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.h

@@ -57,6 +57,9 @@ public:
   /// If less than 0, it's a % increase.
   void SetPercentageSpeedDifference(const ActorPtr &actor, const float percentage);
 
+  /// Set a vehicle's exact desired velocity.
+  void SetDesiredSpeed(const ActorPtr &actor, const float value);
+
   /// Method to set a global % decrease in velocity with respect to the speed limit.
   /// If less than 0, it's a % increase.
   void SetGlobalPercentageSpeedDifference(float const percentage);

LibCarla/source/carla/trafficmanager/TrafficManagerServer.h

@@ -94,6 +94,11 @@ public:
         tm->SetPercentageSpeedDifference(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
       });
 
+      /// Set a vehicle's exact desired velocity.
+      server->bind("set_desired_speed", [=](carla::rpc::Actor actor, const float value) {
+        tm->SetDesiredSpeed(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), value);
+      });
+
       /// Method to set the automatic management of the vehicle lights
       server->bind("update_vehicle_lights", [=](carla::rpc::Actor actor, const bool do_update) {
         tm->SetUpdateVehicleLights(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), do_update);

PythonAPI/carla/agents/navigation/basic_agent.py

@@ -88,6 +88,7 @@ class BasicAgent(object):
         Changes the target speed of the agent
             :param speed (float): target speed in Km/h
         """
+        self._target_speed = speed
         self._local_planner.set_speed(speed)
 
     def follow_speed_limits(self, value=True):

PythonAPI/carla/agents/navigation/behavior_agent.py

@@ -30,16 +30,15 @@ class BehaviorAgent(BasicAgent):
     are encoded in the agent, from cautious to a more aggressive ones.
     """
 
-    def __init__(self, vehicle, behavior='normal'):
+    def __init__(self, vehicle, behavior='normal', opt_dict={}):
         """
         Constructor method.
 
             :param vehicle: actor to apply to local planner logic onto
-            :param ignore_traffic_light: boolean to ignore any traffic light
             :param behavior: type of agent to apply
         """
 
-        super(BehaviorAgent, self).__init__(vehicle)
+        super(BehaviorAgent, self).__init__(vehicle, opt_dict=opt_dict)
         self._look_ahead_steps = 0
 
         # Vehicle information

PythonAPI/carla/agents/navigation/constant_velocity_agent.py

@@ -0,0 +1,121 @@
+# Copyright (c) # Copyright (c) 2018-2020 CVC.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""
+This module implements an agent that roams around a track following random
+waypoints and avoiding other vehicles. The agent also responds to traffic lights.
+It can also make use of the global route planner to follow a specifed route
+"""
+
+import carla
+
+from agents.navigation.basic_agent import BasicAgent
+from agents.tools.misc import get_speed
+
+class ConstantVelocityAgent(BasicAgent):
+    """
+    ConstantVelocityAgent implements an agent that navigates the scene at a fixed velocity.
+    This agent will fail if asked to perform turns that are impossible are the desired speed.
+    This includes lane changes. When a collision is detected, the constant velocity will stop,
+    wait for a bit, and then start again.
+    """
+
+    def __init__(self, vehicle, target_speed=20, opt_dict={}):
+        """
+        Initialization the agent parameters, the local and the global planner.
+
+            :param vehicle: actor to apply to agent logic onto
+            :param target_speed: speed (in Km/h) at which the vehicle will move
+            :param opt_dict: dictionary in case some of its parameters want to be changed.
+                This also applies to parameters related to the LocalPlanner.
+        """
+        super(ConstantVelocityAgent, self).__init__(vehicle, target_speed, opt_dict=opt_dict)
+
+        self._use_basic_behavior = False  # Whether or not to use the BasicAgent behavior when the constant velocity is down
+        self._target_speed = target_speed / 3.6  # [m/s]
+        self._current_speed = vehicle.get_velocity().length()  # [m/s]
+        self._constant_velocity_stop_time = None
+
+        self._restart_time = float('inf')  # Time after collision before the constant velocity behavior starts again
+
+        if 'restart_time' in opt_dict:
+            self._restart_time = opt_dict['restart_time']
+        if 'use_basic_behavior' in opt_dict:
+            self._use_basic_behavior = opt_dict['use_basic_behavior']
+        if 'force_lane_following' in opt_dict:
+            self._force_lane_following = opt_dict['force_lane_following']
+
+        self.is_constant_velocity_active = True
+        self._set_collision_sensor()
+        self._set_constant_velocity(target_speed)
+
+    def set_target_speed(self, speed):
+        """Changes the target speed of the agent"""
+        self._target_speed = speed / 3.6
+        self._local_planner.set_speed(speed)
+
+    def stop_constant_velocity(self):
+        """Stops the constant velocity behavior"""
+        self.is_constant_velocity_active = False
+        self._vehicle.disable_constant_velocity()
+        self._constant_velocity_stop_time = self._world.get_snapshot().timestamp.elapsed_seconds
+
+    def restart_constant_velocity(self):
+        """Public method to restart the constant velocity"""
+        self.is_constant_velocity_active = True
+        self._set_constant_velocity(self._target_speed)
+
+    def _set_constant_velocity(self, speed):
+        """Forces the agent to drive at the specified speed"""
+        self._vehicle.enable_constant_velocity(carla.Vector3D(speed, 0, 0))
+
+    def run_step(self):
+        """Execute one step of navigation."""
+        if not self.is_constant_velocity_active:
+            if self._world.get_snapshot().timestamp.elapsed_seconds - self._constant_velocity_stop_time > self._restart_time:
+                self.restart_constant_velocity()
+                self.is_constant_velocity_active = True
+            elif self._use_basic_behavior:
+                return super(ConstantVelocityAgent, self).run_step()
+            else:
+                return carla.VehicleControl()
+
+        hazard_detected = False
+
+        # Retrieve all relevant actors
+        actor_list = self._world.get_actors()
+        vehicle_list = actor_list.filter("*vehicle*")
+        lights_list = actor_list.filter("*traffic_light*")
+
+        vehicle_speed = self._vehicle.get_velocity().length()
+
+        max_vehicle_distance = self._base_vehicle_threshold + vehicle_speed
+        affected_by_vehicle, adversary, _ = self._vehicle_obstacle_detected(vehicle_list, max_vehicle_distance)
+        if affected_by_vehicle:
+            vehicle_velocity = self._vehicle.get_velocity()
+            hazard_speed = vehicle_velocity.dot(adversary.get_velocity()) / vehicle_velocity.length()
+            hazard_detected = True
+
+        # Check if the vehicle is affected by a red traffic light
+        max_tlight_distance = self._base_tlight_threshold + 0.3 * vehicle_speed
+        affected_by_tlight, _ = self._affected_by_traffic_light(lights_list, max_tlight_distance)
+        if affected_by_tlight:
+            hazard_speed = 0
+            hazard_detected = True
+
+        # The longitudinal PID is overwritten by the constant velocity but it is
+        # still useful to apply it so that the vehicle isn't moving with static wheels
+        control = self._local_planner.run_step()
+        if hazard_detected:
+            self._set_constant_velocity(hazard_speed)
+        else:
+            self._set_constant_velocity(self._target_speed)
+
+        return control
+
+    def _set_collision_sensor(self):
+        blueprint = self._world.get_blueprint_library().find('sensor.other.collision')
+        self._collision_sensor = self._world.spawn_actor(blueprint, carla.Transform(), attach_to=self._vehicle)
+        self._collision_sensor.listen(lambda event: self.stop_constant_velocity())

PythonAPI/carla/agents/navigation/local_planner.py

@@ -77,6 +77,7 @@ class LocalPlanner(object):
         self._max_steer = 0.8
         self._offset = 0
         self._base_min_distance = 3.0
+        self._distance_ratio = 0.5
         self._follow_speed_limits = False
 
         # Overload parameters
@@ -101,6 +102,8 @@ class LocalPlanner(object):
                 self._offset = opt_dict['offset']
             if 'base_min_distance' in opt_dict:
                 self._base_min_distance = opt_dict['base_min_distance']
+            if 'distance_ratio' in opt_dict:
+                self._distance_ratio = opt_dict['distance_ratio']
             if 'follow_speed_limits' in opt_dict:
                 self._follow_speed_limits = opt_dict['follow_speed_limits']
 
@@ -223,7 +226,7 @@ class LocalPlanner(object):
         # Purge the queue of obsolete waypoints
         veh_location = self._vehicle.get_location()
         vehicle_speed = get_speed(self._vehicle) / 3.6
-        self._min_distance = self._base_min_distance + 0.5 *vehicle_speed
+        self._min_distance = self._base_min_distance + self._distance_ratio * vehicle_speed
 
         num_waypoint_removed = 0
         for waypoint, _ in self._waypoints_queue:

PythonAPI/carla/source/libcarla/TrafficManager.cpp

@@ -87,6 +87,7 @@ void export_trafficmanager() {
   class_<ctm::TrafficManager>("TrafficManager", no_init)
     .def("get_port", &ctm::TrafficManager::Port)
     .def("vehicle_percentage_speed_difference", &ctm::TrafficManager::SetPercentageSpeedDifference)
+    .def("set_desired_speed", &ctm::TrafficManager::SetDesiredSpeed)
     .def("global_percentage_speed_difference", &ctm::TrafficManager::SetGlobalPercentageSpeedDifference)
     .def("update_vehicle_lights", &ctm::TrafficManager::SetUpdateVehicleLights)
     .def("collision_detection", &ctm::TrafficManager::SetCollisionDetection)

PythonAPI/docs/client.yml

@@ -512,6 +512,19 @@
       doc: >
         Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects.
     # --------------------------------------
+    - def_name: set_desired_speed
+      params:
+      - param_name: actor
+        type: carla.Actor
+        doc: >
+          Vehicle whose speed is being changed.
+      - param_name: speed
+        type: float
+        doc: >
+          Desired speed at which the vehicle will move.
+      doc: >
+        Sets the speed of a vehicle to the specified value.
+    # --------------------------------------
     - def_name: set_hybrid_physics_mode
       params:
       - param_name: enabled

PythonAPI/examples/automatic_control.py

@@ -60,6 +60,7 @@ from carla import ColorConverter as cc
 
 from agents.navigation.behavior_agent import BehaviorAgent  # pylint: disable=import-error
 from agents.navigation.basic_agent import BasicAgent  # pylint: disable=import-error
+from agents.navigation.constant_velocity_agent import ConstantVelocityAgent  # pylint: disable=import-error
 
 
 # ==============================================================================
@@ -80,6 +81,29 @@ def get_actor_display_name(actor, truncate=250):
     name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
     return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
 
+def get_actor_blueprints(world, filter, generation):
+    bps = world.get_blueprint_library().filter(filter)
+
+    if generation.lower() == "all":
+        return bps
+
+    # If the filter returns only one bp, we assume that this one needed
+    # and therefore, we ignore the generation
+    if len(bps) == 1:
+        return bps
+
+    try:
+        int_generation = int(generation)
+        # Check if generation is in available generations
+        if int_generation in [1, 2]:
+            bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
+            return bps
+        else:
+            print("   Warning! Actor Generation is not valid. No actor will be spawned.")
+            return []
+    except:
+        print("   Warning! Actor Generation is not valid. No actor will be spawned.")
+        return []
 
 # ==============================================================================
 # -- World ---------------------------------------------------------------
@@ -108,6 +132,7 @@ class World(object):
         self._weather_presets = find_weather_presets()
         self._weather_index = 0
         self._actor_filter = args.filter
+        self._actor_generation = args.generation
         self.restart(args)
         self.world.on_tick(hud.on_world_tick)
         self.recording_enabled = False
@@ -120,7 +145,7 @@ class World(object):
         cam_pos_id = self.camera_manager.transform_index if self.camera_manager is not None else 0
 
         # Get a random blueprint.
-        blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
+        blueprint = random.choice(get_actor_blueprints(self.world, self._actor_filter, self._actor_generation))
         blueprint.set_attribute('role_name', 'hero')
         if blueprint.has_attribute('color'):
             color = random.choice(blueprint.get_attribute('color').recommended_values)
@@ -566,19 +591,17 @@ class CameraManager(object):
         self._parent = parent_actor
         self.hud = hud
         self.recording = False
+        bound_x = 0.5 + self._parent.bounding_box.extent.x
         bound_y = 0.5 + self._parent.bounding_box.extent.y
+        bound_z = 0.5 + self._parent.bounding_box.extent.z
         attachment = carla.AttachmentType
         self._camera_transforms = [
-            (carla.Transform(
-                carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), attachment.SpringArm),
-            (carla.Transform(
-                carla.Location(x=1.6, z=1.7)), attachment.Rigid),
-            (carla.Transform(
-                carla.Location(x=5.5, y=1.5, z=1.5)), attachment.SpringArm),
-            (carla.Transform(
-                carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), attachment.SpringArm),
-            (carla.Transform(
-                carla.Location(x=-1, y=-bound_y, z=0.5)), attachment.Rigid)]
+            (carla.Transform(carla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), carla.Rotation(pitch=8.0)), attachment.SpringArm),
+            (carla.Transform(carla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), attachment.Rigid),
+            (carla.Transform(carla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), attachment.SpringArm),
+            (carla.Transform(carla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), carla.Rotation(pitch=6.0)), attachment.SpringArm),
+            (carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), attachment.Rigid)]
+
         self.transform_index = 1
         self.sensors = [
             ['sensor.camera.rgb', cc.Raw, 'Camera RGB'],
@@ -712,8 +735,13 @@ def game_loop(args):
         world = World(client.get_world(), hud, args)
         controller = KeyboardControl(world)
         if args.agent == "Basic":
-            agent = BasicAgent(world.player)
-        else:
+            agent = BasicAgent(world.player, 30)
+        elif args.agent == "Constant":
+            agent = ConstantVelocityAgent(world.player, 30)
+            ground_loc = world.world.ground_projection(world.player.get_location(), 5)
+            if ground_loc:
+                world.player.set_location(ground_loc.location + carla.Location(z=0.01))
+        elif args.agent == "Behavior":
             agent = BehaviorAgent(world.player, behavior=args.behavior)
 
         # Set the agent destination
@@ -739,7 +767,7 @@ def game_loop(args):
             if agent.done():
                 if args.loop:
                     agent.set_destination(random.choice(spawn_points).location)
-                    world.hud.notification("The target has been reached, searching for another target", seconds=4.0)
+                    world.hud.notification("Target reached", seconds=4.0)
                     print("The target has been reached, searching for another target")
                 else:
                     print("The target has been reached, stopping the simulation")
@@ -803,6 +831,11 @@ def main():
         metavar='PATTERN',
         default='vehicle.*',
         help='Actor filter (default: "vehicle.*")')
+    argparser.add_argument(
+        '--generation',
+        metavar='G',
+        default='2',
+        help='restrict to certain actor generation (values: "1","2","All" - default: "2")')
     argparser.add_argument(
         '-l', '--loop',
         action='store_true',
@@ -810,7 +843,7 @@ def main():
         help='Sets a new random destination upon reaching the previous one (default: False)')
     argparser.add_argument(
         "-a", "--agent", type=str,
-        choices=["Behavior", "Basic"],
+        choices=["Behavior", "Basic", "Constant"],
         help="select which agent to run",
         default="Behavior")
     argparser.add_argument(