Skip to content

Commit

Permalink
Add files via upload
Browse files Browse the repository at this point in the history
  • Loading branch information
@fyctime052
fyctime052 authored Jan 26, 2024
1 parent 9a9f725 commit f7a4a24
Show file tree
Hide file tree
Showing 35 changed files with 5,283 additions and 0 deletions.
303 changes: 303 additions & 0 deletions scenario_runner/srunner/examples/CatalogExample.xosc
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,303 @@
<?xml version="1.0"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:PedestrianCrossing" author=""/>
<ParameterDeclarations>
<ParameterDeclaration name="weather" parameterType="string" value="ClearNoon" />
<ParameterDeclaration name="carcolor" parameterType="string" value="122,122,122" />
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
<Directory path="catalogs"/>
</VehicleCatalog>
<PedestrianCatalog>
<Directory path="catalogs"/>
</PedestrianCatalog>
<MiscObjectCatalog>
<Directory path="catalogs"/>
</MiscObjectCatalog>
<EnvironmentCatalog>
<Directory path="catalogs"/>
</EnvironmentCatalog>
<ManeuverCatalog>
<Directory path="catalogs"/>
</ManeuverCatalog>
<ControllerCatalog>
<Directory path="catalogs"/>
</ControllerCatalog>
</CatalogLocations>
<RoadNetwork>
<LogicFile filepath="Town01"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.volkswagen.t2"/>
</ScenarioObject>
<ScenarioObject name="vehicle">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.tesla.model3">
<ParameterAssignments>
<ParameterAssignment parameterRef="carcolor" value="255,255,0" />
</ParameterAssignments>
</CatalogReference>
</ScenarioObject>
<ScenarioObject name="vehicle2">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.tesla.model3">
<ParameterAssignments>
<ParameterAssignment parameterRef="carcolor" value="122,122,122" />
</ParameterAssignments>
</CatalogReference>
</ScenarioObject>
<ScenarioObject name="adversary">
<CatalogReference catalogName="PedestrianCatalog" entryName="Pedestrian1"/>
</ScenarioObject>
<ScenarioObject name="barrier1">
<CatalogReference catalogName="MiscObjectCatalog" entryName="Barrier1"/>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<CatalogReference catalogName="EnvironmentCatalog" entryName="$weather"/>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="170" y="55" z="0" h="3.14159265359"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<CatalogReference catalogName="ControllerCatalog" entryName="ExternalControl"/>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="vehicle">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="150" y="55" z="0" h="3.14159265359"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="vehicle2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="150" y="60" z="0" h="3.14159265359"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="110" y="52" z="0.3" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="barrier1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="100" y="58" z="0" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="AutopilotSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="vehicle"/>
</Actors>
<CatalogReference catalogName="ManeuverCatalog" entryName="Autopilot"/>
</ManeuverGroup>
<ManeuverGroup maximumExecutionCount="1" name="PedestrianCrossingSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="PedestrianCrossingManeuver">
<Event name="PedestrianStartsWalking" priority="overwrite">
<Action name="PedestrianStartsWalking">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="3" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="10.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="vehicle"/>
</TriggeringEntities>
<EntityCondition>
<ReachPositionCondition tolerance="1.0">
<Position>
<WorldPosition x="140" y="55" z="0"/>
</Position>
</ReachPositionCondition>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="PedestrianStopsAndWaits" priority="overwrite">
<Action name="PedestrianStopsAndWaits">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="5" dynamicsDimension="time"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="adversary"/>
</TriggeringEntities>
<EntityCondition>
<StandStillCondition duration="1"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="AfterPedestrianWalks" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="PedestrianStartsWalking" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="PedestrianWalksAway" priority="overwrite">
<Action name="PedestrianStartsWalkingAway">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="6.5" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="2.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="vehicle"/>
</TriggeringEntities>
<EntityCondition>
<StandStillCondition duration="0.1"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="AfterPedestrianStopsAndWaits" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="PedestrianStopsAndWaits" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="PedestrianWaits" priority="overwrite">
<Action name="PedestrianWaits">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="10" dynamicsDimension="time"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="adversary"/>
</TriggeringEntities>
<EntityCondition>
<StandStillCondition duration="0.1"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="AfterPedestrianStartsWalking" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="PedestrianStartsWalkingAway" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="20.0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
13 changes: 13 additions & 0 deletions scenario_runner/srunner/examples/ChangeLane.xml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
<?xml version="1.0"?>
<scenarios>
<scenario name="ChangeLane_1" type="ChangeLane" town="Town04">
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="-173" model="vehicle.lincoln.mkz2017" />
<!-- spawn actors-->
<other_actor x="264.4" y="16.3" z="-500" yaw="-179" model="vehicle.tesla.model3" />
<other_actor x="184.4" y="14.9" z="-500" yaw="-176" model="vehicle.volkswagen.t2" />
<weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
</scenario>
<scenario name="ChangeLane_2" type="ChangeLane" town="Town01">
<ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
</scenario>
</scenarios>
Loading

0 comments on commit f7a4a24

Please sign in to comment.