+Snippet for carla.World.unload_map_layer +
+
+
+```py
+
+# This recipe toggles off several layers in our "_Opt" maps
+
+# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
+# as well as buildings and parked vehicles
+world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
+
+# Toggle all buildings off
+world.unload_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all parked vehicles off
+world.unload_map_layer(carla.MapLayer.ParkedVehicles)
+
+
+```
+
+ +
+
++ +
+
+
+Snippet for carla.DebugHelper.draw_string +
+
+
+```py
+
+
+# This recipe is a modification of lane_explorer.py example.
+# It draws the path of an actor through the world, printing information at each waypoint.
+
+# ...
+current_w = map.get_waypoint(vehicle.get_location())
+while True:
+
+ next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
+ # Check if the vehicle is moving
+ if next_w.id != current_w.id:
+ vector = vehicle.get_velocity()
+ # Check if the vehicle is on a sidewalk
+ if current_w.lane_type == carla.LaneType.Sidewalk:
+ draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
+ else:
+ draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
+ debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
+ draw_transform(debug, current_w.transform, white, 60)
+
+ # Update the current waypoint and sleep for some time
+ current_w = next_w
+ time.sleep(args.tick_time)
+# ...
+
+
+```
+
+ +
+
+ +
Snippet for carla.ActorBlueprint.set_attribute @@ -4260,6 +4325,247 @@ camera_bp.set_attribute('image_size_y', 600)
+
+Snippet for carla.World.get_spectator +
+
+
+```py
+
+
+# This recipe spawns an actor and the spectator camera at the actor's location.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.Sensor.listen +
+
+
+```py
+
+
+# This recipe applies a color conversion to the image taken by a camera sensor,
+# so it is converted to a semantic segmentation image.
+
+# ...
+camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
+# ...
+cc = carla.ColorConverter.CityScapesPalette
+camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
+# ...
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.World.load_map_layer +
+
+
+```py
+
+# This recipe toggles on several layers in our "_Opt" maps
+
+# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
+world = client.load_world('Town01_Opt', carla.MapLayer.None)
+
+# Toggle all buildings on
+world.load_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all foliage on
+world.load_map_layer(carla.MapLayer.Foliage)
+
+# Toggle all parked vehicles on
+world.load_map_layer(carla.MapLayer.ParkedVehicles)
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.Map.get_waypoint +
+
+
+```py
+
+
+# This recipe shows the current traffic rules affecting the vehicle.
+# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
+
+# ...
+waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
+print("Current lane type: " + str(waypoint.lane_type))
+# Check current lane change allowed
+print("Current Lane change: " + str(waypoint.lane_change))
+# Left and Right lane markings
+print("L lane marking type: " + str(waypoint.left_lane_marking.type))
+print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
+print("R lane marking type: " + str(waypoint.right_lane_marking.type))
+print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
+# ...
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+Snippet for carla.TrafficLight.set_state +
+
+
+```py
+
+
+# This recipe changes from red to green the traffic light that affects the vehicle.
+# This is done by detecting if the vehicle actor is at a traffic light.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...# ...
+if vehicle_actor.is_at_traffic_light():
+ traffic_light = vehicle_actor.get_traffic_light()
+ if traffic_light.get_state() == carla.TrafficLightState.Red:
+ # world.hud.notification("Traffic light changed! Good to go!")
+ traffic_light.set_state(carla.TrafficLightState.Green)
+# ...
+
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+Snippet for carla.Vehicle.set_wheel_steer_direction +
+
+
+```py
+
+# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
+
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.DebugHelper.draw_box +
+
+
+```py
+
+
+# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
+
+# ....
+debug = world.debug
+world_snapshot = world.get_snapshot()
+
+for actor_snapshot in world_snapshot:
+ actual_actor = world.get_actor(actor_snapshot.id)
+ if actual_actor.type_id == 'traffic.traffic_light':
+ debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
+# ...
+
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+
+Snippet for carla.WalkerAIController.stop +
+
+
+```py
+
+
+#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
+
+# stop pedestrians (list is [controller, actor, controller, actor ...])
+for i in range(0, len(all_id), 2):
+ all_actors[i].stop()
+
+# destroy pedestrian (actor and controller)
+client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
+
+
+```
+
+ +
+
+ +
Snippet for carla.Client.apply_batch_sync @@ -4333,6 +4639,36 @@ for i in range(0, len(all_actors), 2):
+
-
+Snippet for carla.World.enable_environment_objects +
+
+
+```py
+
+# This recipe turn visibility off and on for two specifc buildings on the map
+
+# Get the buildings in the world
+world = client.get_world()
+env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
+
+# Access individual building IDs and save in a set
+building_01 = env_objs[0]
+building_02 = env_objs[1]
+objects_to_toggle = {building_01.id, building_02.id}
+
+# Toggle buildings off
+world.enable_environment_objects(objects_to_toggle, False)
+# Toggle buildings on
+world.enable_environment_objects(objects_to_toggle, True)
+
+
+```
+
+ +
+
+ +
Snippet for carla.Client.__init__ @@ -4378,316 +4714,6 @@ Snippet for carla.Client.__init__
-
-Snippet for carla.DebugHelper.draw_box -
-
-
-```py
-
-
-# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
-
-# ....
-debug = world.debug
-world_snapshot = world.get_snapshot()
-
-for actor_snapshot in world_snapshot:
- actual_actor = world.get_actor(actor_snapshot.id)
- if actual_actor.type_id == 'traffic.traffic_light':
- debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
-# ...
-
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.DebugHelper.draw_string -
-
-
-```py
-
-
-# This recipe is a modification of lane_explorer.py example.
-# It draws the path of an actor through the world, printing information at each waypoint.
-
-# ...
-current_w = map.get_waypoint(vehicle.get_location())
-while True:
-
- next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
- # Check if the vehicle is moving
- if next_w.id != current_w.id:
- vector = vehicle.get_velocity()
- # Check if the vehicle is on a sidewalk
- if current_w.lane_type == carla.LaneType.Sidewalk:
- draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
- else:
- draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
- debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
- draw_transform(debug, current_w.transform, white, 60)
-
- # Update the current waypoint and sleep for some time
- current_w = next_w
- time.sleep(args.tick_time)
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.Map.get_waypoint -
-
-
-```py
-
-
-# This recipe shows the current traffic rules affecting the vehicle.
-# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
-
-# ...
-waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
-print("Current lane type: " + str(waypoint.lane_type))
-# Check current lane change allowed
-print("Current Lane change: " + str(waypoint.lane_change))
-# Left and Right lane markings
-print("L lane marking type: " + str(waypoint.left_lane_marking.type))
-print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
-print("R lane marking type: " + str(waypoint.right_lane_marking.type))
-print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
-# ...
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.Sensor.listen -
-
-
-```py
-
-
-# This recipe applies a color conversion to the image taken by a camera sensor,
-# so it is converted to a semantic segmentation image.
-
-# ...
-camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
-# ...
-cc = carla.ColorConverter.CityScapesPalette
-camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.TrafficLight.set_state -
-
-
-```py
-
-
-# This recipe changes from red to green the traffic light that affects the vehicle.
-# This is done by detecting if the vehicle actor is at a traffic light.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...# ...
-if vehicle_actor.is_at_traffic_light():
- traffic_light = vehicle_actor.get_traffic_light()
- if traffic_light.get_state() == carla.TrafficLightState.Red:
- # world.hud.notification("Traffic light changed! Good to go!")
- traffic_light.set_state(carla.TrafficLightState.Green)
-# ...
-
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.Vehicle.set_wheel_steer_direction -
-
-
-```py
-
-# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
-
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.WalkerAIController.stop -
-
-
-```py
-
-
-#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
-
-# stop pedestrians (list is [controller, actor, controller, actor ...])
-for i in range(0, len(all_id), 2):
- all_actors[i].stop()
-
-# destroy pedestrian (actor and controller)
-client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.World.enable_environment_objects -
-
-
-```py
-
-# This recipe turn visibility off and on for two specifc buildings on the map
-
-# Get the buildings in the world
-world = client.get_world()
-env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
-
-# Access individual building IDs and save in a set
-building_01 = env_objs[0]
-building_02 = env_objs[1]
-objects_to_toggle = {building_01.id, building_02.id}
-
-# Toggle buildings off
-world.enable_environment_objects(objects_to_toggle, False)
-# Toggle buildings on
-world.enable_environment_objects(objects_to_toggle, True)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.World.get_spectator -
-
-
-```py
-
-
-# This recipe spawns an actor and the spectator camera at the actor's location.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...
-
-
-```
-
- -
-
-- -
-
-
-Snippet for carla.World.load_map_layer -
-
-
-```py
-
-# This recipe toggles on several layers in our "_Opt" maps
-
-# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
-world = client.load_world('Town01_Opt', carla.MapLayer.None)
-
-# Toggle all buildings on
-world.load_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all foliage on
-world.load_map_layer(carla.MapLayer.Foliage)
-
-# Toggle all parked vehicles on
-world.load_map_layer(carla.MapLayer.ParkedVehicles)
-
-
-```
-
- -
-
- -
Snippet for carla.World.spawn_actor @@ -4713,32 +4739,6 @@ lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, att
-
diff --git a/Docs/start_quickstart.md b/Docs/start_quickstart.md
index 0b0c59e68..2690ecfee 100644
--- a/Docs/start_quickstart.md
+++ b/Docs/start_quickstart.md
@@ -106,7 +106,7 @@ The package is a compressed file named __CARLA_version.number__. Download and ex
---
## Import additional assets
-Each release has it's own additional package of extra assets and maps. This additional package includes the maps __Town06__, __Town07__, and __Town10__. These are stored separately to reduce the size of the build, so they can only be imported after the main package has been installed.
+Each release has it's own additional package of extra assets and maps. This additional package includes the maps __Town06__ and __Town07__. These are stored separately to reduce the size of the build, so they can only be imported after the main package has been installed.
__1.__ [Download](https://github.com/carla-simulator/carla/blob/master/Docs/download.md) the appropriate package for your desired version of CARLA.
diff --git a/PythonAPI/docs/world.yml b/PythonAPI/docs/world.yml
index b5a6494c7..5edd3b609 100644
--- a/PythonAPI/docs/world.yml
+++ b/PythonAPI/docs/world.yml
@@ -125,11 +125,11 @@
- var_name: substepping
type: bool
doc: >
- Enable the physics substepping. This option allows computing some physics substeps between two render frames. If synchronous mode is set, the number of substeps and its time interval are fixed and computed are so they fulfilled the requirements of carla.WorldSettings.max_substep and carla.WorldSettings.max_substep_delta_time. These last two parameters need to be compatible with carla.WorldSettings.fixed_delta_seconds. Enabled by default.
+ Enable the physics substepping. This option allows computing some physics substeps between two render frames. If synchronous mode is set, the number of substeps and its time interval are fixed and computed are so they fulfilled the requirements of carla.WorldSettings.max_substeps and carla.WorldSettings.max_substep_delta_time. These last two parameters need to be compatible with carla.WorldSettings.fixed_delta_seconds. Enabled by default.
- var_name: max_substep_delta_time
type: float
doc: >
- Maximum delta time of the substeps. If the carla.WorldSettingsmax_substep is high enough, the substep delta time would be always below or equal to this value. By default, the value is set to 0.01.
+ Maximum delta time of the substeps. If the carla.WorldSettings.max_substeps is high enough, the substep delta time would be always below or equal to this value. By default, the value is set to 0.01.
- var_name: max_substeps
type: int
doc: >
-Snippet for carla.World.unload_map_layer -
-
-
-```py
-
-# This recipe toggles off several layers in our "_Opt" maps
-
-# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
-# as well as buildings and parked vehicles
-world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
-
-# Toggle all buildings off
-world.unload_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all parked vehicles off
-world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-
-
-```
-
- -
-
- -