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common.yaml
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env:
eval: False
world:
carla_port: 2000
town: "Town04" # which town to simulate
actor_active_distance: 100
fixed_delta_seconds: 0.1
auto_lane_change: True
traffic:
tm_seed: 2024
observation:
camera:
handler: camera
blueprint: sensor.camera.rgb
key: camera
shape: [128, 128, 3]
transform:
x: 1.5
z: 2.0
attributes:
image_size_x: 128
image_size_y: 128
fov: 120.0
sensor_tick: 0.1
# LiDAR sensor
lidar:
handler: lidar
blueprint: sensor.lidar.ray_cast
key: lidar
shape: [128, 128, 3]
lidar_bin: 0.25
ego_offset: 12
transform:
z: 2.1
attributes:
range: 32
channels: 32
sensor_tick: 0.1
# collision sensor
collision:
handler: collision
blueprint: sensor.other.collision
key: collision
shape: [1]
spectator:
handler: spectator
key: spectator
shape: [512, 512, 3]
height: 40
fov: 90
sensor_tick: 0.1
pitch: -90
# BEV with only roadmap, vehicles, and waypoints
birdeye_raw:
handler: birdeye
key: birdeye_raw
shape: [128, 128, 3]
obs_range: 32
ego_offset: 12
camera_fov: 150
observability: full # [full, recursive_fov, fov]
color_by_obs: False
waypoint_obs: visible # [neighbor, visible, all]
extend_wpt: False
entities: [roadmap, waypoints, ego_vehicle, background_vehicles]
# Render waypoints on BEV
birdeye_wpt:
handler: birdeye
key: birdeye_wpt
shape: [128, 128, 3]
obs_range: 32
ego_offset: 12
camera_fov: 150
observability: full
color_by_obs: False
waypoint_obs: visible
extend_wpt: False
entities:
[
roadmap,
waypoints,
background_waypoints,
ego_vehicle,
background_vehicles,
]
# Render all information on BEV
birdeye_gt:
handler: birdeye
key: birdeye_gt
shape: [128, 128, 3]
obs_range: 32
ego_offset: 12
camera_fov: 150
observability: full
color_by_obs: True
waypoint_obs: visible
extend_wpt: False
entities:
[
roadmap,
waypoints,
background_waypoints,
fov_lines,
ego_vehicle,
background_vehicles,
]
# Render traffic sign on BEV
birdeye_with_traffic_lights:
handler: birdeye
key: birdeye_with_traffic_lights
shape: [128, 128, 3]
obs_range: 32
ego_offset: 12
camera_fov: 150
observability: full
color_by_obs: False
waypoint_obs: visible
extend_wpt: False
entities:
[
roadmap,
waypoints,
background_waypoints,
ego_vehicle,
background_vehicles,
traffic_lights,
stop_signs,
]
birdeye_wpt_with_errors:
handler: birdeye
key: birdeye_wpt_with_errors
shape: [128, 128, 3]
obs_range: 32
ego_offset: 12
camera_fov: 150
observability: full
color_by_obs: False
waypoint_obs: visible
extend_wpt: False
error_rate: 0.2
entities: [roadmap, waypoints, error_background_waypoints, ego_vehicle, background_vehicles]
display:
enable: True
render_keys: [camera, birdeye_wpt]
image_size: 512
action:
discrete: True # whether to use discrete control space
discrete_acc: [-2.0, 0.0, 2.0] # discrete value of accelerations
discrete_steer: [-0.6, -0.2, 0.0, 0.2, 0.6] # discrete value of steering angles
n_commands: 3 # number of text commands