pre-release 0.10.0

rl_coach/environments/CarlaSettings.ini

@@ -0,0 +1,112 @@
+; Example of settings file for CARLA.
+;
+; This file can be loaded with the Python client to be sent to the server. It
+; defines the parameters to be used when requesting a new episode.
+;
+; Note that server specific variables are only loaded when launching the
+; simulator. Use it with `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
+
+[CARLA/Server]
+; If set to false, a mock controller will be used instead of waiting for a real
+; client to connect. (Server only)
+UseNetworking=false
+; Ports to use for the server-client communication. This can be overridden by
+; the command-line switch `-world-port=N`, write and read ports will be set to
+; N+1 and N+2 respectively. (Server only)
+WorldPort=2000
+; Time-out in milliseconds for the networking operations. (Server only)
+ServerTimeOut=100000000000
+; In synchronous mode, CARLA waits every frame until the control from the client
+; is received.
+SynchronousMode=true
+; Send info about every non-player agent in the scene every frame, the
+; information is attached to the measurements message. This includes other
+; vehicles, pedestrians and traffic signs. Disabled by default to improve
+; performance.
+SendNonPlayerAgentsInfo=false
+
+[CARLA/QualitySettings]
+; Quality level of the graphics, a lower level makes the simulation run
+; considerably faster. Available: Low or Epic.
+QualityLevel=Low
+
+[CARLA/LevelSettings]
+; Path of the vehicle class to be used for the player. Leave empty for default.
+; Paths follow the pattern "/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C"
+PlayerVehicle=
+; Number of non-player vehicles to be spawned into the level.
+NumberOfVehicles=15
+; Number of non-player pedestrians to be spawned into the level.
+NumberOfPedestrians=30
+; Index of the weather/lighting presets to use. If negative, the default presets
+; of the map will be used.
+WeatherId=1
+; Seeds for the pseudo-random number generators.
+SeedVehicles=123456789
+SeedPedestrians=123456789
+
+[CARLA/Sensor]
+; Names of the sensors to be attached to the player, comma-separated, each of
+; them should be defined in its own subsection.
+
+; Uncomment next line to add a camera called FrontCamera to the vehicle
+Sensors=FrontCamera
+
+; or uncomment next line to add a camera and a Lidar
+; Sensors=FrontCamera,MyLidar
+
+; or uncomment next line to add a regular camera and a depth camera
+; Sensors=FrontCamera,FrontCamera/Depth
+
+; Now, every camera we added needs to be defined it in its own subsection.
+[CARLA/Sensor/FrontCamera]
+; Type of the sensor. The available types are:
+;   * CAMERA                        A scene capture camera.
+;   * LIDAR_RAY_CAST                A Lidar implementation based on ray-casting.
+SensorType=CAMERA
+; Post-processing effect to be applied to this camera. Valid values:
+;   * None                  No effects applied.
+;   * SceneFinal            Post-processing present at scene (bloom, fog, etc).
+;   * Depth                 Depth map ground-truth only.
+;   * SemanticSegmentation  Semantic segmentation ground-truth only.
+PostProcessing=SceneFinal
+; Size of the captured image in pixels.
+ImageSizeX=360
+ImageSizeY=256
+; Camera (horizontal) field of view in degrees.
+FOV=90
+; Position of the camera relative to the car in meters.
+PositionX=0.20
+PositionY=0
+PositionZ=1.30
+; Rotation of the camera relative to the car in degrees.
+RotationPitch=8
+RotationRoll=0
+RotationYaw=0
+
+[CARLA/Sensor/FrontCamera/Depth]
+; The sensor can be defined in a subsection of FrontCamera so it inherits the
+; values in FrontCamera. This adds a camera similar to FrontCamera but generating
+; depth map images instead.
+PostProcessing=Depth
+
+[CARLA/Sensor/MyLidar]
+SensorType=LIDAR_RAY_CAST
+; Number of lasers.
+Channels=32
+; Measure distance in meters.
+Range=50.0
+; Points generated by all lasers per second.
+PointsPerSecond=100000
+; Lidar rotation frequency.
+RotationFrequency=10
+; Upper and lower laser angles, positive values means above horizontal line.
+UpperFOVLimit=10
+LowerFOVLimit=-30
+; Position and rotation relative to the vehicle.
+PositionX=0
+PositionY=0
+PositionZ=1.40
+RotationPitch=0
+RotationYaw=0
+RotationRoll=0