Python API Quickstart Guide

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)