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fixed typos and broken links (#7396) 

* fixed typos and broken links

* updated python_api.md
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MattRoweEAIF 2024-04-11 14:59:30 +02:00 committed by GitHub
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2
Docs/build_faq.md
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@ -76,7 +76,7 @@ CARLA forum</a>
> CARLA is a performance demanding software. At the very minimum it requires a 6GB GPU or, even better, a dedicated GPU capable of running Unreal Engine. > CARLA is a performance demanding software. At the very minimum it requires a 6GB GPU or, even better, a dedicated GPU capable of running Unreal Engine.
> >
> Take a look at [Unreal Engine's recommended hardware](https://www.ue4community.wiki/recommended-hardware-x1p9qyg0). > Take a look at [Unreal Engine's recommended hardware](https://dev.epicgames.com/documentation/en-us/unreal-engine/hardware-and-software-specifications-for-unreal-engine).
--- ---

28
Docs/core_map.md
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@ -23,6 +23,7 @@ After discussing about the world and its actors, it is time to put everything in
- [Add map package](tuto_M_add_map_package.md) - [Add map package](tuto_M_add_map_package.md)
- [Add map source](tuto_M_add_map_source.md) - [Add map source](tuto_M_add_map_source.md)
- [Alternative methods](tuto_M_add_map_alternative.md) - [Alternative methods](tuto_M_add_map_alternative.md)
- [__Additional maps__](#additional-maps)
--- ---
@ -257,6 +258,9 @@ Non-layered maps are shown in the table below (click the town name to see an ove
| [__Town11__](map_town11.md) | A Large Map that is undecorated. Serves as a proof of concept for the Large Maps feature. | | [__Town11__](map_town11.md) | A Large Map that is undecorated. Serves as a proof of concept for the Large Maps feature. |
| [__Town12__](map_town12.md) | A Large Map with numerous different regions, including high-rise, residential and rural environments.| | [__Town12__](map_town12.md) | A Large Map with numerous different regions, including high-rise, residential and rural environments.|
!!! note
Town06 and Town07 are additional content which does not come with the standard CARLA package. Please see the [additional maps section](#additional-maps) for details on how to import these.
### Layered maps ### Layered maps
The layout of layered maps is the same as non-layered maps but it is possible to toggle off and on the layers of the map. There is a minimum layout that cannot be toggled off and consists of roads, sidewalks, traffic lights and traffic signs. Layered maps can be identified by the suffix `_Opt`, for example, `Town01_Opt`. With these maps it is possible to [load][load_layer] and [unload][unload_layer] layers via the Python API: The layout of layered maps is the same as non-layered maps but it is possible to toggle off and on the layers of the map. There is a minimum layout that cannot be toggled off and consists of roads, sidewalks, traffic lights and traffic signs. Layered maps can be identified by the suffix `_Opt`, for example, `Town01_Opt`. With these maps it is possible to [load][load_layer] and [unload][unload_layer] layers via the Python API:
@ -291,3 +295,27 @@ CARLA is designed to be extensible and highly customisable for specialist applic
* [__Add map package__](tuto_M_add_map_package.md) * [__Add map package__](tuto_M_add_map_package.md)
* [__Add map source__](tuto_M_add_map_source.md) * [__Add map source__](tuto_M_add_map_source.md)
* [__Alternative methods__](tuto_M_add_map_alternative.md) * [__Alternative methods__](tuto_M_add_map_alternative.md)
## Additional maps
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.
__2.__ Extract the package:
- __On Linux__:
- move the package to the _Import_ folder and run the following script to extract the contents:
```sh
cd path/to/carla/root
./ImportAssets.sh
```
- __On Windows__:
- Extract the contents directly in the root folder.
---

676
Docs/python_api.md
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@ -3771,9 +3771,9 @@ When enabled, the simulation will run no rendering at all. This is mainly used t
- <a name="carla.WorldSettings.fixed_delta_seconds"></a>**<font color="#f8805a">fixed_delta_seconds</font>** (_float_) - <a name="carla.WorldSettings.fixed_delta_seconds"></a>**<font color="#f8805a">fixed_delta_seconds</font>** (_float_)
Ensures that the time elapsed between two steps of the simulation is fixed. Set this to <b>0.0</b> to work with a variable time-step, as happens by default. Ensures that the time elapsed between two steps of the simulation is fixed. Set this to <b>0.0</b> to work with a variable time-step, as happens by default.
- <a name="carla.WorldSettings.substepping"></a>**<font color="#f8805a">substepping</font>** (_bool_) - <a name="carla.WorldSettings.substepping"></a>**<font color="#f8805a">substepping</font>** (_bool_)
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](#carla.WorldSettings.max_substep) and [carla.WorldSettings.max_substep_delta_time](#carla.WorldSettings.max_substep_delta_time). These last two parameters need to be compatible with [carla.WorldSettings.fixed_delta_seconds](#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](#carla.WorldSettings.max_substeps) and [carla.WorldSettings.max_substep_delta_time](#carla.WorldSettings.max_substep_delta_time). These last two parameters need to be compatible with [carla.WorldSettings.fixed_delta_seconds](#carla.WorldSettings.fixed_delta_seconds). Enabled by default.
- <a name="carla.WorldSettings.max_substep_delta_time"></a>**<font color="#f8805a">max_substep_delta_time</font>** (_float_) - <a name="carla.WorldSettings.max_substep_delta_time"></a>**<font color="#f8805a">max_substep_delta_time</font>** (_float_)
Maximum delta time of the substeps. If the [carla.WorldSettingsmax_substep](#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](#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.
- <a name="carla.WorldSettings.max_substeps"></a>**<font color="#f8805a">max_substeps</font>** (_int_) - <a name="carla.WorldSettings.max_substeps"></a>**<font color="#f8805a">max_substeps</font>** (_int_)
The maximum number of physics substepping that are allowed. By default, the value is set to 10. The maximum number of physics substepping that are allowed. By default, the value is set to 10.
- <a name="carla.WorldSettings.max_culling_distance"></a>**<font color="#f8805a">max_culling_distance</font>** (_float_) - <a name="carla.WorldSettings.max_culling_distance"></a>**<font color="#f8805a">max_culling_distance</font>** (_float_)
@ -4226,6 +4226,71 @@ document.getElementById("snipets-container").innerHTML = null;
} }
</script> </script>
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.unload_map_layer
</p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_string
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<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
```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)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;"> <div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.ActorBlueprint.set_attribute Snippet for carla.ActorBlueprint.set_attribute
@ -4260,6 +4325,247 @@ camera_bp.set_attribute('image_size_y', 600)
</div> </div>
<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```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())
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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Snippet for carla.Sensor.listen
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<div id="carla.Sensor.listen-code" class="SnipetContent">
```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))
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.World.load_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.load_map_layer
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<div id="carla.World.load_map_layer-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```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))
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.TrafficLight.set_state
</p>
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
```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)
# ...
```
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<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
</div>
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Vehicle.set_wheel_steer_direction
</p>
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```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)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```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])
```
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<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;"> <div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.Client.apply_batch_sync Snippet for carla.Client.apply_batch_sync
@ -4333,6 +4639,36 @@ for i in range(0, len(all_actors), 2):
</div> </div>
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.enable_environment_objects
</p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Client.__init__-snipet" style="display: none;"> <div id ="carla.Client.__init__-snipet" style="display: none;">
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Snippet for carla.Client.__init__ Snippet for carla.Client.__init__
@ -4378,316 +4714,6 @@ Snippet for carla.Client.__init__
</div> </div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```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)
# ...
```
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<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_string
</p>
<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
```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)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```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))
# ...
```
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<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Sensor.listen
</p>
<div id="carla.Sensor.listen-code" class="SnipetContent">
```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))
# ...
```
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<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.TrafficLight.set_state
</p>
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
```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)
# ...
```
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<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Vehicle.set_wheel_steer_direction
</p>
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```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)
```
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<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```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])
```
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<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.enable_environment_objects
</p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```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)
```
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<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```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())
# ...
```
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<div id ="carla.World.load_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.load_map_layer
</p>
<div id="carla.World.load_map_layer-code" class="SnipetContent">
```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)
```
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<div id ="carla.World.spawn_actor-snipet" style="display: none;"> <div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.World.spawn_actor Snippet for carla.World.spawn_actor
@ -4713,32 +4739,6 @@ lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, att
</div> </div>
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.unload_map_layer
</p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
```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)
```
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</div> </div>

2
Docs/start_quickstart.md
View File

@ -106,7 +106,7 @@ The package is a compressed file named __CARLA_version.number__. Download and ex
--- ---
## Import additional assets ## 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. __1.__ [Download](https://github.com/carla-simulator/carla/blob/master/Docs/download.md) the appropriate package for your desired version of CARLA.

4
PythonAPI/docs/world.yml
View File

@ -125,11 +125,11 @@
- var_name: substepping - var_name: substepping
type: bool type: bool
doc: > 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 - var_name: max_substep_delta_time
type: float type: float
doc: > 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 - var_name: max_substeps
type: int type: int
doc: > doc: >