Updated with new map/vehicle/pedestrian names

Author: martins-mozeiko

quickstart/02-loading-scene-show-spawns.py

@@ -12,11 +12,11 @@
 
 print("Current Scene = {}".format(sim.current_scene))
 
-# Loads the named map in the connected simulator. The available maps can be found in the Free Roam map selection drop down
-if sim.current_scene == "SanFrancisco":
+# Loads the named map in the connected simulator. The available maps can be set up in web interface
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 print("Current Scene = {}".format(sim.current_scene))
 

quickstart/03-raycast.py

@@ -9,33 +9,32 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 # The next few lines spawns an EGO vehicle in the map
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 # This is the point from which the rays will originate from. It is raised 1m from the ground
 p = spawns[0].position
 p.y += 1
 
 # useful bits in layer mask
-# 0 - Default (buildings, obstacles)
-# 4 - Water
-# 8 - EGO vehicles
-# 13 - Ground and Road, Sidewalks
-# 14 - NPC vehicles
-# 18 - Pedestrian
+# 0 - Default (road & ground)
+# 9 - EGO vehicles
+# 10 - NPC vehicles
+# 11 - Pedestrian
+# TODO: obstacle layer
 
 # Included layers can be hit by the rays. Otherwise the ray will go through the layer
 layer_mask = 0
-for bit in [0, 4, 13, 14, 18]: # do not put 8 here, to not hit EGO vehicle itself
+for bit in [0, 10, 11]: # do not put 9 here, to not hit EGO vehicle itself
   layer_mask |= 1 << bit
 
 # raycast returns None if the ray doesn't collide with anything

quickstart/04-ego-drive-straight.py

@@ -9,18 +9,18 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
 # Agents can be spawned with a velocity. Default is to spawn with 0 velocity
-state.velocity = lgsvl.Vector(-50, 0, 0)
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+state.velocity = lgsvl.Vector(0, 0, 20)
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 # The bounding box of an agent are 2 points (min and max) such that the box formed from those 2 points completely encases the agent
 print("Vehicle bounding box =", a.bounding_box)

quickstart/05-ego-drive-in-circle.py

@@ -9,16 +9,17 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+state.transform.position.z += 5 # 5m forwards
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 print("Current time = ", sim.current_time)
 print("Current frame = ", sim.current_frame)

quickstart/06-save-camera-image.py

@@ -9,22 +9,22 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 # get_sensors returns a list of sensors on the EGO vehicle
 sensors = a.get_sensors()
 for s in sensors:
   if s.name == "Main Camera":
     # Camera and LIDAR sensors can save data to the specified file path
     s.save("main-camera.png", compression=0)
-    s.save("main-camera1.jpg", quality=75)
+    s.save("main-camera.jpg", quality=75)
     break

quickstart/07-save-lidar-point-cloud.py

@@ -9,19 +9,19 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 sensors = a.get_sensors()
 for s in sensors:
-  if s.name == "velodyne":
+  if s.name == "Lidar":
     s.save("lidar.pcd")
     break

quickstart/08-create-npc.py

@@ -10,28 +10,28 @@
 import random
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
-state.transform = spawns[1]
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+state.transform = spawns[0]
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 # Spawn NPC vehicles 10 meters ahead of the EGO
-sx = spawns[1].position.x - 10.0
-sz = spawns[1].position.z
+sx = spawns[0].position.x
+sz = spawns[0].position.z + 10.0
 
 # Spawns one of each of the listed types of NPCS
 # The first will be created in front of the EGO and then they will be created to the left
-# The available types of NPCs are listed in Unity Editor NPCManager script under NPC Vehicles
-for i, name in enumerate(["Sedan", "SUV", "Jeep", "HatchBack"]):
+# The available types of NPCs can be found in NPCManager prefab
+for i, name in enumerate(["Sedan", "SUV", "Jeep", "Hatchback"]):
   state = lgsvl.AgentState()
-  state.transform = spawns[1]
+  state.transform = spawns[0]
 
-  state.transform.position.x = sx
-  state.transform.position.z = sz - 4.0 * i
+  state.transform.position.x = sx - 4.0 * i
+  state.transform.position.z = sz
   sim.add_agent(name, lgsvl.AgentType.NPC, state)

quickstart/09-reset-scene.py

@@ -14,27 +14,27 @@
 random.seed(0)
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
-state.transform = spawns[1]
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+state.transform = spawns[0]
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 # 10 meters ahead
-sx = state.transform.position.x - 10.0
-sz = state.transform.position.z
+sx = state.transform.position.x
+sz = state.transform.position.z + 10.0
 
-for i, name in enumerate(["Sedan", "SUV", "Jeep", "HatchBack"]):
+for i, name in enumerate(["Sedan", "SUV", "Jeep", "Hatchback"]):
   state = lgsvl.AgentState()
-  state.transform = spawns[1]
+  state.transform = spawns[0]
 
-  state.transform.position.x = sx
-  state.transform.position.z = sz - 4.0 * i
+  state.transform.position.x = sx - 4.0 * i
+  state.transform.position.z = sz
   sim.add_agent(name, lgsvl.AgentType.NPC, state)
 
 input("Press Enter to reset")

quickstart/10-npc-follow-the-lane.py

@@ -9,35 +9,34 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
-state.transform = spawns[1]
-a = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+state.transform = spawns[0]
+a = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 state = lgsvl.AgentState()
-state.transform = spawns[1]
+state.transform = spawns[0]
 
-sx = spawns[1].position.x
-sz = spawns[1].position.z
+sx = spawns[0].position.x
+sz = spawns[0].position.z
 
-# 10 meters ahead, on right lane
-state.transform.position.x = sx - 10.0
-#state.transform.position.z = sz + 6.0
+# 10 meters ahead, on left lane
+state.transform.position.z = sz + 10.0
 
 npc1 = sim.add_agent("Sedan", lgsvl.AgentType.NPC, state)
 
 state = lgsvl.AgentState()
-state.transform = spawns[1]
+state.transform = spawns[0]
 
-# 10 meters ahead, on left lane
-state.transform.position.x = sx - 10.0
-state.transform.position.z = sz - 4.0
+# 10 meters ahead, on right lane
+state.transform.position.x = sx + 4.0
+state.transform.position.z = sz + 10.0
 
 npc2 = sim.add_agent("SUV", lgsvl.AgentType.NPC, state)
 

quickstart/11-collision-callbacks.py

@@ -9,10 +9,10 @@
 import lgsvl
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
-if sim.current_scene == "SanFrancisco":
+if sim.current_scene == "BorregasAve":
   sim.reset()
 else:
-  sim.load("SanFrancisco")
+  sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
 
@@ -24,20 +24,20 @@
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-ego = sim.add_agent("XE_Rigged-apollo", lgsvl.AgentType.EGO, state)
+ego = sim.add_agent("Jaguar2015XE (Apollo 3.5)", lgsvl.AgentType.EGO, state)
 
 # school bus, 20m ahead, perpendicular to road, stopped
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-state.transform.position.x = sx - 20.0
-state.transform.rotation.y = 0.0
+state.transform.position.z = sz + 20.0
+state.transform.rotation.y = 90.0
 bus = sim.add_agent("SchoolBus", lgsvl.AgentType.NPC, state)
 
 # sedan, 10m ahead, driving forward
 state = lgsvl.AgentState()
 state.transform = spawns[0]
-state.transform.position.x = sx - 10.0
+state.transform.position.z = sz + 10.0
 state.transform.rotation.y = ry
 sedan = sim.add_agent("Sedan", lgsvl.AgentType.NPC, state)
 # Even though the sedan is commanded to follow the lane, obstacle avoidance takes precedence and it will not drive into the bus