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
• 35-spawn-multi-robots.py How to spawn multiple robots and connect to a bridge
• 36-send-destination-to-nav2.py How to send destinations of a robot to Navigation2 stack over a bridge
• 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)