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ENVIRONMENT.md

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Environment Details

Agent

Each agent has the following format:

{
  "type": <type>,
  "relative_to_ego": <relative_position>,
  "action": <action>,
}

The summary of the available types, relative positions, and actions are as follows:

graph
  subgraph ACTION
    direction LR
    Action --> turn_left
    Action --> turn_right
    Action --> go_straight
    Action --> change_lane_to_left
    Action --> change_lane_to_right
    Action --> stop
    Action --> block_the_ego
    Action --> cross_the_road
    Action --> on_the_sidewalk
  end
  subgraph BEHAVIOR
    AGENT_BEHAVIOR --> cautious
    AGENT_BEHAVIOR --> normal
    AGENT_BEHAVIOR --> aggressive
end
subgraph AGENT_TYPE
    direction TB
    CAR
    PEOPLE
end
subgraph PEOPLE
  pedestrian
  cyclist
end
subgraph CAR
  police
  ambulance
  firetruck
  bus
  truck
  motorcycle
  car
end
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Relative Position

Relative position refers to the initial spawning points of the agents with respect to the ego car. The following are the possible relative positions:

poisition description
front The agent is in front of the ego car
back The agent is behind the ego car
left The agent is on the left side of the ego car
right The agent is on the right side of the ego car
front_left The agent is in front and on the left side of the ego car
front_right The agent is in front and on the right side of the ego car
back_left The agent is behind and on the left side of the ego car
back_right The agent is behind and on the right side of the ego car
road_of_left_turn The agent is on different roads that ego car should take a left turn to reach
road_of_right_turn The agent is on different roads that ego car should take a right turn to reach
road_of_straight The agent is on different roads that ego car should go straight to reach
at_the_destination The agent is near at the destination of the ego car
near_the_crosswalk The agent is near at the crosswalk, used for pedestrian

Scene

Weather

We support different combination of weathers that is originally defined in the Carla environment.

Weather Type Sunset 🌅 Noon ☀️ Night 🌖
Clear ☀️ ClearSunset ClearNoon ClearNight
Cloudy ☁️ CloudySunset CloudyNoon CloudyNight
Wet 🌫️ WetSunset WetNoon WetNight
WetCloudy 🌫️ WetCloudySunset WetCloudyNoon WetCloudyNight
SoftRain 🌦️ SoftRainSunset SoftRainNoon SoftRainNight
MidRain 🌧️ MidRainSunset MidRainyNoon MidRainyNight
HardRain ⛈️ HardRainSunset HardRainNoon HardRainNight
DustStorm 🌪️ - DustStorm -

Road Type

The agents can be spawned in the following road types:

  • driving
  • sidewalk
  • shoulder