-Snippet for carla.ActorBlueprint.set_attribute +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.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.Map.get_waypoint +
+
```py
-# This recipe changes attributes of different type of blueprint actors.
+# 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.
# ...
-walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
-walker_bp.set_attribute('is_invincible', True)
-
-# ...
-# Changes attribute randomly by the recommended value
-vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
-color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
-vehicle_bp.set_attribute('color', color)
-
-# ...
-
-camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
-camera_bp.set_attribute('image_size_x', 600)
-camera_bp.set_attribute('image_size_y', 600)
+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.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.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.spawn_actor +
+
+
+```py
+
+
+# This recipe attaches different camera / sensors to a vehicle with different attachments.
+
+# ...
+camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
+# Default attachment: Attachment.Rigid
+gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
+collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
+lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
+# ...
+
+
+```
+
@@ -3707,48 +3844,37 @@ for i in range(0, len(all_actors), 2):
+
-Snippet for carla.Client.__init__ +Snippet for carla.ActorBlueprint.set_attribute
-
+
+
```py
-# This recipe shows in every script provided in PythonAPI/Examples
-# and it is used to parse the client creation arguments when running the script.
+# This recipe changes attributes of different type of blueprint actors.
- argparser = argparse.ArgumentParser(
- description=__doc__)
- argparser.add_argument(
- '--host',
- metavar='H',
- default='127.0.0.1',
- help='IP of the host server (default: 127.0.0.1)')
- argparser.add_argument(
- '-p', '--port',
- metavar='P',
- default=2000,
- type=int,
- help='TCP port to listen to (default: 2000)')
- argparser.add_argument(
- '-s', '--speed',
- metavar='FACTOR',
- default=1.0,
- type=float,
- help='rate at which the weather changes (default: 1.0)')
- args = argparser.parse_args()
+# ...
+walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
+walker_bp.set_attribute('is_invincible', True)
- speed_factor = args.speed
- update_freq = 0.1 / speed_factor
+# ...
+# Changes attribute randomly by the recommended value
+vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
+color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
+vehicle_bp.set_attribute('color', color)
- client = carla.Client(args.host, args.port)
+# ...
+camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
+camera_bp.set_attribute('image_size_x', 600)
+camera_bp.set_attribute('image_size_y', 600)
+# ...
```
-
+
@@ -3783,6 +3909,50 @@ for actor_snapshot in world_snapshot:
+
+
+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.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_string @@ -3822,61 +3992,78 @@ while True:
+
-Snippet for carla.Map.get_waypoint +Snippet for carla.World.enable_environment_objects
-
+
```py
+# This recipe turn visibility off and on for two specifc buildings on the map
-# 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.
+# Get the buildings in the world
+world = client.get_world()
+env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
-# ...
-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))
-# ...
+# 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.Sensor.listen +Snippet for carla.Client.__init__
-
+
-
```py
-# This recipe applies a color conversion to the image taken by a camera sensor,
-# so it is converted to a semantic segmentation image.
+# This recipe shows in every script provided in PythonAPI/Examples
+# and it is used to parse the client creation arguments when running the script.
+
+ argparser = argparse.ArgumentParser(
+ description=__doc__)
+ argparser.add_argument(
+ '--host',
+ metavar='H',
+ default='127.0.0.1',
+ help='IP of the host server (default: 127.0.0.1)')
+ argparser.add_argument(
+ '-p', '--port',
+ metavar='P',
+ default=2000,
+ type=int,
+ help='TCP port to listen to (default: 2000)')
+ argparser.add_argument(
+ '-s', '--speed',
+ metavar='FACTOR',
+ default=1.0,
+ type=float,
+ help='rate at which the weather changes (default: 1.0)')
+ args = argparser.parse_args()
+
+ speed_factor = args.speed
+ update_freq = 0.1 / speed_factor
+
+ client = carla.Client(args.host, args.port)
-# ...
-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))
-# ...
```
-
+
@@ -3926,193 +4113,6 @@ if vehicle_actor.is_at_traffic_light():
+
-
-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)
-
-
-```
-
- -
-
-- -
-/`. To integrate the level with the CARLA Python API, use the naming convention `_`, e.g., `TutorialMap_Buildings`. For a list of available layers, check [here](core_map.md#carla-maps).
->>>>>>
+>>>>>>
---
@@ -46,7 +46,7 @@ __3. Save the level.__
If a level has pending changes to save, you will see a pencil icon next to it in the _Levels_ panel. Click this to save the changes.
-
+
---
@@ -61,7 +61,7 @@ Levels can be configured to be able to be toggled or to be always loaded. To con
Regardless of the setting, you will still be able to toggle the level in the editor by pressing the eye icon.
->>>>>>
+>>>>>>
---
diff --git a/Docs/tuto_M_custom_road_painter.md b/Docs/tuto_M_custom_road_painter.md
index 137502ec9..5e45d7765 100644
--- a/Docs/tuto_M_custom_road_painter.md
+++ b/Docs/tuto_M_custom_road_painter.md
@@ -48,7 +48,7 @@ __4. Re-calibrate the _Map Size (Cm)_ so that it is equal to the actual size of
1. Select the `RoadPainter` actor in the scene.
2. Go to the _Details_ panel and press the _Z-Size_ button. You will see the value in _Map Size (Cm)_ change.
->>>>>
+>>>>>
__5. Synchronize the map size between the `RoadPainter` and `Tutorial_RoadMaster`.__
@@ -56,7 +56,7 @@ __5. Synchronize the map size between the `RoadPainter` and `Tutorial_RoadMaster
2. Copy the value _Map Size (Cm)_ from the previous step and paste it to _Global Scalar Parameter Values -> Map units (CM)_ in the `Tutorial_RoadMaster` window.
3. Press save.
->>>>>>
+>>>>>>
__6. Create the communication link between the road painter and the master material.__
@@ -72,7 +72,7 @@ The `Tutorial_RenderTarget` will be the communication link between the road pain
The `Tutorial_RoadMaster` material you created holds the base material, extra material information, and parameters that will be applied via your `Tutorial_RenderTarget`. You can configure one base material and up to three additional materials.
->>
+>>
To configure the materials, double-click the `Tutorial_RoadMaster` file. In the window that appears, you can select and adjust the following values for each material according to your needs:
@@ -109,7 +109,7 @@ Each of the materials we added to `Tutorial_RoadMaster` are applied to the roads
1. Select the road painter actor
2. In the _Details_ panel, select the material to work with in the _Mask Color_ dropdown menu.
->>>>>>
+>>>>>>
__3. Set the brush and stencil parameters.__
diff --git a/Docs/tuto_M_generate_map.md b/Docs/tuto_M_generate_map.md
index 6acee64c4..208f4b40b 100644
--- a/Docs/tuto_M_generate_map.md
+++ b/Docs/tuto_M_generate_map.md
@@ -79,7 +79,7 @@ __2.__ In the window that pops up:
>- Leave unchecked:
- _Export Individual Tiles_: Generates one `.fbx` file with all map pieces.
->>>>
+>>>>
__3.__ Choose the directory where you want to export your files and click `Export`. This will generate `.fbx` and `.xodr` files among others.
diff --git a/PythonAPI/docs/control.yml b/PythonAPI/docs/control.yml
index 22ecefc78..5a3fdd00a 100644
--- a/PythonAPI/docs/control.yml
+++ b/PythonAPI/docs/control.yml
@@ -432,17 +432,17 @@
type: float
var_units: kg per radian
doc: >
- Tire longitudinal stiffness per unit gravitational acceleration. __Default__ is `1000.0`.
+ Tire longitudinal stiffness per unit gravitational acceleration. Each vehicle has a custom value.
# --------------------------------------
- var_name: lat_stiff_max_load
type: float
doc: >
- Maximum normalized tire load at which the tire can deliver no more lateral stiffness no matter how much extra load is applied to the tire. __Default__ is `2.0`.
+ Maximum normalized tire load at which the tire can deliver no more lateral stiffness no matter how much extra load is applied to the tire. Each vehicle has a custom value.
# --------------------------------------
- var_name: lat_stiff_value
type: float
doc: >
- Maximum stiffness per unit of lateral slip. __Default__ is `17.0`.
+ Maximum stiffness per unit of lateral slip. Each vehicle has a custom value.
# - METHODS ----------------------------
methods:
- def_name: __init__
diff --git a/mkdocs.yml b/mkdocs.yml
index 9f4f732f2..1d0161fd3 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -24,19 +24,20 @@ nav:
- '2nd- Actors and blueprints': 'core_actors.md'
- '3rd- Maps and navigation': 'core_map.md'
- '4th- Sensors and data': 'core_sensors.md'
-- Advanced steps:
+- Advanced concepts:
- 'OpenDRIVE standalone mode': 'adv_opendrive.md'
- 'PTV-Vissim co-simulation': 'adv_ptv.md'
- 'Recorder': 'adv_recorder.md'
- 'Rendering options': 'adv_rendering_options.md'
- 'RSS': 'adv_rss.md'
- - 'SUMO co-simulation': 'adv_sumo.md'
- 'Synchrony and time-step': 'adv_synchrony_timestep.md'
- - 'Traffic Manager': 'adv_traffic_manager.md'
- 'Benchmarking Performance': 'adv_benchmarking.md'
- 'CARLA Agents': 'adv_agents.md'
- Traffic Simulation:
- 'Traffic Simulation Overview': 'ts_traffic_simulation_overview.md'
+ - 'Traffic Manager': 'adv_traffic_manager.md'
+ - 'SUMO co-simulation': 'adv_sumo.md'
+ - 'Scenic': 'tuto_G_scenic.md'
- References:
- 'Python API reference': 'python_api.md'
- 'Blueprint Library': 'bp_library.md'
@@ -72,7 +73,6 @@ nav:
- 'Retrieve simulation data': "tuto_G_retrieve_data.md"
- 'CarSim Integration (Beta)': "tuto_G_carsim_integration.md"
- 'RLlib Integration': "tuto_G_rllib_integration.md"
- - 'Scenic': 'tuto_G_scenic.md'
- 'Chrono Integration': 'tuto_G_chrono.md'
- 'Build Unreal and CARLA in Docker': 'build_docker_unreal.md'
- Tutorials (assets):
@@ -81,12 +81,14 @@ nav:
- 'Create standalone packages': 'tuto_A_create_standalone.md'
- "Material customization": 'tuto_A_material_customization.md'
- Tutorials (developers):
- - 'Contribute assets': 'tuto_D_contribute_assets.md'
+ - 'How to upgrade content': 'tuto_D_contribute_assets.md'
- 'Create a sensor': 'tuto_D_create_sensor.md'
- 'Create semantic tags': 'tuto_D_create_semantic_tags.md'
- 'Customize vehicle suspension': 'tuto_D_customize_vehicle_suspension.md'
- 'Generate detailed colliders': 'tuto_D_generate_colliders.md'
- 'Make a release': 'tuto_D_make_release.md'
+- CARLA Ecosystem:
+ - 'Ansys Real Time Radar Model': 'ecosys_ansys.md'
- Contributing:
- 'Contribution guidelines': 'cont_contribution_guidelines.md'
- 'Code of conduct': 'cont_code_of_conduct.md'
-Snippet for carla.World.spawn_actor -
-
-
-```py
-
-
-# This recipe attaches different camera / sensors to a vehicle with different attachments.
-
-# ...
-camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
-# Default attachment: Attachment.Rigid
-gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
-collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
-lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
-# ...
-
-
-```
-
- -
-
-- -
-
diff --git a/Docs/tuto_M_add_map_package.md b/Docs/tuto_M_add_map_package.md
index f8f0c94ca..fcffa07b2 100644
--- a/Docs/tuto_M_add_map_package.md
+++ b/Docs/tuto_M_add_map_package.md
@@ -73,9 +73,4 @@ __7.__ To run a simulation with the new map, run CARLA and then change the map u
---
-
-<<<<<<< HEAD:Docs/tuto_M_add_map_package.md
-Your map is now ready to run simulations in CARLA. If you have any questions about the process then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions) or you can try running some of our [example scripts](https://github.com/carla-simulator/carla/tree/master/PythonAPI/examples) on your new map to test it out.
-=======
-Your map is now ready to run simulations in CARLA. If you have any questions about the process then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions/) or you can try running some of our [example scripts](https://github.com/carla-simulator/carla/tree/master/PythonAPI/examples) on your new map to test it out.
->>>>>>> ae0ba81b9fb32ac8a09adf1a1ad77564f3174a15:Docs/tuto_A_add_map/add_map_package.md
+Your map is now ready to run simulations in CARLA. If you have any questions about the process then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions) or you can try running some of our [example scripts](https://github.com/carla-simulator/carla/tree/master/PythonAPI/examples) on your new map to test it out.
\ No newline at end of file
diff --git a/Docs/tuto_M_custom_layers.md b/Docs/tuto_M_custom_layers.md
index 0d4eeffef..bb8c15965 100644
--- a/Docs/tuto_M_custom_layers.md
+++ b/Docs/tuto_M_custom_layers.md
@@ -26,7 +26,7 @@ __2. Create a new level.__
2. Choose _Empty Level_.
3. Save the level in `Content/Carla/Maps/Sublevels/-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)
-
-
-```
-
- -
-
- -