def add_agent(self,
agent: ip.Agent,
rolename: str = None,
blueprint: carla.ActorBlueprint = None):
""" Add a vehicle to the simulation. Defaults to an Audi A2 for blueprints if not explicitly given.
Args:
agent: Agent to add.
rolename: Unique name for the actor to spawn.
blueprint: Optional blueprint defining the properties of the actor.
Returns:
The newly added actor.
"""
if blueprint is None:
blueprint_library = self.__world.get_blueprint_library()
blueprint = blueprint_library.find('vehicle.audi.a2')
if rolename is not None:
blueprint.set_attribute('role_name', rolename)
state = agent.state
yaw = np.rad2deg(-state.heading)
transform = Transform(Location(x=state.position[0], y=-state.position[1], z=0.1), Rotation(yaw=yaw))
actor = self.__world.spawn_actor(blueprint, transform)
actor.set_target_velocity(Vector3D(state.velocity[0], -state.velocity[1], 0.))
carla_agent = ip.carla.CarlaAgentWrapper(agent, actor)
self.agents[carla_agent.agent_id] = carla_agent
def randomize_attributes(bp: carla.ActorBlueprint) -> None:
"""Works in-place.
Attributes for all blueprints: https://github.com/carla-simulator/carla/blob/7f91986f6957260b33b939e1e066a9094e272087/Docs/bp_library.md
There are more attributes, but most of them is read-only... (number_of_wheels, age, gender, size)
"""
# Applies to vehicles only
if bp.has_attribute("color"):
rgb = np.random.randint(0, 255, size=3, dtype=int)
value = ",".join(map(str, rgb))
bp.set_attribute("color", value)
def spawn_lidar(
hero: carla.ActorBlueprint, # pylint: disable=no-member
config: Mapping[str, Any],
) -> carla.ServerSideSensor: # pylint: disable=no-member
"""Spawns LIDAR sensor on `hero`.
Args:
hero: The agent to attach the LIDAR sensor on.
config: The attribute-value pairs for the configuration
of the sensor.
Returns:
The spawned LIDAR sensor.
"""
# Get hero's world.
world = hero.get_world()
# Blueprints library.
bl = world.get_blueprint_library()
# Configure blueprint.
lidar_bp = bl.find("sensor.lidar.ray_cast")
for attribute, value in config["attributes"].items():
lidar_bp.set_attribute(attribute, value)
logging.debug("Spawns a LIDAR sensor")
return world.spawn_actor(
lidar_bp,
carla.Transform( # pylint: disable=no-member
carla.Location(**config["actor"]["location"]), # pylint: disable=no-member
carla.Rotation(), # pylint: disable=no-member
),
attach_to=hero,
)
def spawn_camera(
hero: carla.ActorBlueprint, # pylint: disable=no-member
config: Mapping[str, Any],
camera_type: str,
) -> carla.ServerSideSensor: # pylint: disable=no-member
"""Spawns a camera on `hero`.
Args:
hero: The agent to attach the camera on.
config: The attribute-value pairs for the configuration
of the sensor.
camera_type: Camera type, one of ("rgb", "semantic_segmentation", "depth").
Returns:
The spawned camera sensor.
"""
assert camera_type in ("rgb", "semantic_segmentation", "depth")
# Get hero's world.
world = hero.get_world()
# Blueprints library.
bl = world.get_blueprint_library()
# Configure blueprint.
camera_bp = bl.find("sensor.camera.{}".format(camera_type))
for attribute, value in config["attributes"].items():
camera_bp.set_attribute(attribute, value)
logging.debug("Spawns a {} camera".format(camera_type))
return world.spawn_actor(
camera_bp,
carla.Transform( # pylint: disable=no-member
carla.Location(**config["actor"]["location"]), # pylint: disable=no-member
carla.Rotation(**config["actor"]["rotation"]), # pylint: disable=no-member
),
attach_to=hero,
)
def spawn_lane_invasion(
hero: carla.ActorBlueprint, # pylint: disable=no-member
) -> carla.ServerSideSensor: # pylint: disable=no-member
"""Spawns lane invasion sensor on `hero`.
Args:
hero: The agent to attach the collision sensor on.
Returns:
The spawned lane invasion sensor.
"""
# Get hero's world.
world = hero.get_world()
# Blueprints library.
bl = world.get_blueprint_library()
# Configure blueprint.
collision_bp = bl.find("sensor.other.lane_invasion")
logging.debug("Spawns a lane invasion sensor")
return world.spawn_actor(
collision_bp,
carla.Transform(), # pylint: disable=no-member
attach_to=hero,
)
def _add_attr_to_blueprint(self, bp: carla.ActorBlueprint):
bp.set_attribute('image_size_x', str(self.img_width))
bp.set_attribute('image_size_y', str(self.img_height))
bp.set_attribute('fov', str(self.fov_horizontal))