paralleldomain.data_lab.generators.spawn_data¶

class AgentSpawnData(*, proto=None, tags=None)¶

Contains spawn metadata that applies across agent types.

Parameters:

tags (Optional[List[str]]) – tags
proto (Optional[pd_unified_generator_pb2.AgentSpawnData]) –

tags¶: Tags to be applied to the agent. Tags are case sensitive.

class DroneSpawnData(*, proto=None, ascend_probability=None, ground_asset_probability=None, ground_assets=None, flight_path_dir=None, agent_spawn_data=None, height_offset=None, ground_asset_height_offset=None)¶

Parameters to control a drone’s spawn characteristics and movement behavior.

Parameters:

ascend_probability (Optional[float]) – ascend_probability
ground_asset_probability (Optional[float]) – ground_asset_probability
ground_assets (Optional[List[str]]) – ground_assets
flight_path_dir (Optional[str]) – flight_path_dir
agent_spawn_data (Optional[AgentSpawnData]) – agent_spawn_data
height_offset (Optional[ContinousUniformDistribution]) – height_offset
ground_asset_height_offset (Optional[ContinousUniformDistribution]) – ground_asset_height_offset
proto (Optional[pd_unified_generator_pb2.DroneSpawnData]) –

ascend_probability¶: Specify the probability that the drone will ascend (as opposed to descend). Specified as a float in the range 0.0 to 1.0. Default: 0.5

ground_asset_probability¶: Probability of having a ground asset directly below the lowest point of the drone’s flight path. Default: 0.5

ground_assets¶: List of ground assets to choose from if a ground asset should be spawned based on the parameter ground_asset_probability.

flight_path_dir¶: Directory where flight path csv files are stored within the instance. If not provided, default flight path shape is used.

agent_spawn_data¶: Specifies spawn data which applies to the agents. If not provided, will default to default values in AgentSpawnData.

height_offset¶: Specifies the vertical distance, in meters, between the lowest point of the drone flight path and the ground. Specified as a ContinousUniformDistribution which is randomly sampled from at scenario generation.

ground_asset_height_offset¶

Specifies the vertical distance above the ground which the ground asset should be spawned at if a ground asset should be spawned according to parameters in ground_asset_probability.

Specified as a ContinousUniformDistribution which is randomly sampled from at scenario generation.

class PedestrianSpawnData(*, proto=None, pedestrian_color_override_probability=None, pedestrian_color_override_rgb=None, orient_to_velocity=None, check_occupancy=None, jaywalker_ego_fwd_offset=None, agent_spawn_data=None, ped_behavior=None, asset_name=None, speed=None)¶

Parameters to control a pedestrian’s spawn characteristics and movement behavior.

Parameters:

pedestrian_color_override_probability (Optional[CenterSpreadConfig]) – pedestrian_color_override_probability
pedestrian_color_override_rgb (Optional[Float3]) – pedestrian_color_override_rgb
orient_to_velocity (Optional[bool]) – orient_to_velocity
check_occupancy (Optional[bool]) – check_occupancy
jaywalker_ego_fwd_offset (Optional[float]) – jaywalker_ego_fwd_offset
agent_spawn_data (Optional[AgentSpawnData]) – agent_spawn_data
ped_behavior (Optional[PedestrianBehavior]) – ped_behavior
asset_name (Optional[str]) – asset_name
speed (Optional[float]) – speed
proto (Optional[pd_unified_generator_pb2.PedestrianSpawnData]) –

pedestrian_color_override_probability¶: Specifies probability of overriding color of pedestrian’s clothes to RGB color specified by pedestrian_color_override_rgb. Probability is specified as a CenterSpreadConfig with values in the range 0.0 to 1.0, and is randomly sampled from during scenario generation. If not provided, will default to 0.0.

pedestrian_color_override_rgb¶: Specifies color to override pedestrian’s clothes with if a pedestrian will have its clothing color overridden based on pedestrian_color_override_probability. Specified as RGB values in the range 0.0 to 1.0.

orient_to_velocity¶: Boolean flag to specify whether pedestrians always face the direction of travel. Default: True

check_occupancy¶: Boolean flag to specify whether spawn locations are checked for occupancy by other agents prior to spawning. Default: True

jaywalker_ego_fwd_offset¶: Specifies how far ahead, in meters, a jaywalking pedestrian should be from the tagged vehicle. If ped_behavior does not specify that the pedestrian is a JAYWALKER, this field is ignored. Default: 20.0

agent_spawn_data¶: Specifies spawn data which applies to the agents. If not provided, will default to default values in AgentSpawnData.

ped_behavior¶: Specifies desired behavior of pedestrian being spawned. If not provided, will default to NORMAL behavior.

asset_name¶: Asset name of the pedestrian being spawned. Default: char_hannah_001

speed¶: Specifies the speed in meters per second of the pedestrian being spawned. Default: 1.0

class VehicleSpawnData(*, proto=None, vehicle_behavior=None, vehicle_peripheral=None, agent_spawn_data=None)¶

Parameters to controls a vehicle’s spawn characteristics and movement behavior.

Parameters:

vehicle_behavior (Optional[VehicleBehavior]) – vehicle_behavior
vehicle_peripheral (Optional[VehiclePeripheral]) – vehicle_peripheral
agent_spawn_data (Optional[AgentSpawnData]) – agent_spawn_data
proto (Optional[pd_unified_generator_pb2.VehicleSpawnData]) –

vehicle_behavior¶: Parameters to control the movement behavior of a vehicle. If not provided, will default to default values in VehicleBehavior.

vehicle_peripheral¶: Parameters that control vehicle peripherals (eg. accessories, color, occupants, etc.). If not provided, will default to default values in VehiclePeripheral.

agent_spawn_data¶: Specifies spawn data which applies to the agents. If not provided, will default to default values in AgentSpawnData.