paralleldomain.data_lab.generators.ego_agent¶

class EgoAgentGeneratorParameters(*, proto=None, agent_type=None, ego_model=None, position_request=None, use_traffic_light_color_probability=None, traffic_light_color_probability=None, vehicle_spawn_data=None, pedestrian_spawn_data=None, drone_spawn_data=None)¶

Generator to place an ego agent with sensor in the world. Required for every scenario. All agents placed by the EgoAgentGenerator will have an “EGO” tag added by default.

Parameters:

agent_type (Optional[AgentType]) – agent_type
ego_model (Optional[str]) – ego_model
position_request (Optional[PositionRequest]) – position_request
use_traffic_light_color_probability (Optional[bool]) – use_traffic_light_color_probability
traffic_light_color_probability (Optional[EnumDistribution]) – traffic_light_color_probability
vehicle_spawn_data (Optional[VehicleSpawnData]) – vehicle_spawn_data
pedestrian_spawn_data (Optional[PedestrianSpawnData]) – pedestrian_spawn_data
drone_spawn_data (Optional[DroneSpawnData]) – drone_spawn_data
proto (Optional[pd_unified_generator_pb2.EgoAgentGeneratorParameters]) –

agent_type¶: Determines the type of agent that the ego sensor is attached to. Default: AgentType.VEHICLE

ego_model¶: Specifies the type of agent which the ego will be attached to is agent_type if AgentType.VEHICLE. Default: suv_medium_02

position_request¶: Specify the location on the map at which the ego agent will be spawned. Must be provided.

use_traffic_light_color_probability¶: Specifies if the ego agent should be placed in front of a traffic light at the beginning of a scenario. Default: False

traffic_light_color_probability¶

Specifies the desired traffic light distribution (with associated probability) to use if use_traffic_light_color_probability is True. Must be provided if use_traffic_light_color_probability is True.

Possible values:

"Red"
"Yellow"
"Green"

vehicle_spawn_data¶: Specifies parameters of the ego agent if agent_type is AgentType.VEHICLE. If not provided, will use defaults specified in VehicleSpawnData.

pedestrian_spawn_data¶: DEPRECATED

drone_spawn_data¶: DEPRECATED

class RenderEgoGenerator(ego_asset_name='suv_medium_02')¶

Places the ego vehicle in the scene so that it can appear in rendered images

Parameters:: ego_asset_name (str) – Name of the ego vehicle model as it appears in the asset database

class AgentType(value)¶

Collection of currently supported agent types. Only AgentType.VEHICLE is currently supported.

ANIMAL = 7¶: DEPRECATED

DRONE = 6¶: DEPRECATED

PARKED_VEHICLE = 2¶: DEPRECATED

PEDESTRIAN = 4¶: DEPRECATED

STATIC_OBJECT = 5¶: DEPRECATED

TRAILER_VEHICLE = 3¶: DEPRECATED

UNSPECIFIED = 0¶: DEPRECATED

VEHICLE = 1¶: Vehicle that follows the road network with physical body movement.