Python API Quickstart Script Descriptions

This document describes the example Python scripts that use the SVL Simulator Python API. These scripts are located here. You can find the documentation on the API here.

01-connecting-to-simulator.py: How to connect to an already running instance of the simulator and some information you can get about the instance
02-loading-scene-show-spawns.py: How to load a scene and get the scene's predefined spawn transforms
03-raycast.py: How to create an EGO vehicle and do raycasting from a point
04-ego-drive-straight.py: How to create an agent with a velocity and then run the simulator for a set amount of time
05-ego-drive-in-circle.py: How to apply control to an EGO vehicle and then run the simulator indefinitely
06-save-camera-image.py: How to save a camera image in different formats and with various settings
07-save-lidar-point-cloud.py: How to save a LiDAR point cloud
08-create-npc.py: How to create several types of NPC vehicles and spawn them in different positions
09-reset-scene.py: How to empty the scene of all EGOs, NPCs, and Pedestrians, but keep the scene loaded
10-npc-follow-the-lane.py: How to create NPCs and then let them drive in the nearest annotated lane
11-collision-callbacks.py: How to setup the simulator so that whenever the 3 created agents collide with anything, the name of the agent and the collision point is printed
12-create-npc-on-lane.py: How to create NPC vehicles in random position in a radius around the EGO vehicle, but the NPCs are placed on the nearest lane to the initial random position
13-npc-follow-waypoints.py: How to create a list of waypoints with fixed wait times and direct an NPC to follow them
14-create-pedestrians.py: How to create pedestrians in rows in front of the spawn position
15-pedestrian-walk-randomly.py: How to start and stop a pedestrian walking randomly on the sidewalk
16-pedestrian-follow-waypoints.py: How to create a list of waypoints and direct a pedestrian to follow them
17-many-pedestrians-walking.py: How to generate an army of pedestrians and have them walk back and forth
18-weather-effects.py: How to get the current weather state of the simulator and how to adjust the various settings
19-time-of-day.py: How to get the time of date in the simulator and how to set it to a fixed time and a moving time
20-enable-sensors.py: How to enable a specific sensor so that it can send data over a bridge
21-map-coordinates.py: How to convert from simulator coordinates to GPS coordinates and back. Latitude/Longitude and Northing/Easting are supported along with altitude and orientation
22-connecting-bridge.py: How to command an EGO vehicle to connect to a bridge at a specific IP address and port and then wait for the connection to be established
23-npc-callbacks.py: How to setup the simulator so that whenever an NPC reaches a stopline or changes lane, the name of the NPC is printed
24-ego-drive-straight-non-realtime.py: How to run the simulator at non-realtime.
25-waypoint-flying-npc.py: How to use waypoints to define customized motion for NPC.
26-npc-trigger-waypoints.py: How to use trigger waypoints that pause npc motion until an ego vehicle approaches.
27-control-traffic-lights.py: How to get and set the control policy of a controllable object (e.g., changing a traffic light signal)
28-control-traffic-cone.py: How to add and move a controllable object (e.g. a traffic cone)
29-add-random-agents.py: How to use random NPCs and pedestrians in a simulation
30-time-to-collision-trigger.py How to use time-to-collision triggers
31-wait-for-distance-trigger.py How to use wait-for-distance triggers
32-pedestrian-time-to-collision.py How to use time-to-collision on pedestrians
33-ego-drive-stepped.py How to run a stepped simulation using the Python Api
34-simulator-cam-set.py How to set up fixed camera positions in a simulation
98-npc-behaviour.py How to get and set available NPC behaviors
99-utils-examples.py: How to use several of the utility scripts to transform an arbitrary point to the coordinate system of a local transform (relative to sensor)