default_1c_town01.xml

<?xml version="1.0"?>
<config>
<!--Actors are the objects you want to control -->
    <actors>
<!--    The following are default parameters for actor definition -->
<!--    Name attribute is the unique identifier of an actor should match a world object in scenario -->
<!--    Render attribute determine if the agent camera should be live rendered in a window -->
<!--    Enable_planner attribute determine if the agent compute the path to destination or uses a LANE_FOLLOW behaviour -->
<!--    Available camera types or positions in `carla_gym.core.world_objects.camera_manager.CAMERA_TYPES` -->
<!--    Image observation composed of stacked frames. Supported values are only 1 or 2 -->
<!--    Sensors for world objects like vehicles -->
<!--    Early_terminate_on_collision flag to set an agent as 'terminated'/'done' when its collision sensor is triggered -->
<!--    Manual_control can be activated only by a single actor per time -->
<!--    Auto_control do not support goal-oriented navigation -->
<!--    Squash_action_logits attribute indicates if sigmoid function should be used in the trnnslation from discrete to continuous actions -->
<!--    Available reward class in `carla_gym.carla_api.reward.Reward` -->
<!--    Send_measurements attribute determine the agent observation False->obs=[cam_image], True->obs=[cam_image, *measures]. See `multi_env.MultiActorCarlaEnv._encode_obs()` -->
        <actor name="vehicle1" render="False" enable_planner="True" camera_type="rgb" camera_position="0"
               framestack="1" lane_sensor="True" collision_sensor="True" early_terminate_on_collision="True"
               manual_control="False" auto_control="False" squash_action_logits="False" reward_function="corl2017"
               send_measurements="False" log_images="False" log_measurements="False" verbose="False" />
    </actors>
    <scenarios>
<!--    Scenario selected randomly in list at reset of the environment. -->
<!--    Available weather distributions in `carla_gym.core.constant.WEATHERS` -->
<!--    NPC numbers for spawning random traffic -->
        <scenario name="HomoNcomIndePOUrbanMA2CTWN1" town="Town01" npc_pedestrians="10" npc_vehicles="10" weather="Default">
<!--        Name attribute is the unique identifier of a scenario -->
<!--        Type attributes available are [default(vehicle_4W), vehicle_2W, pedestrian, traffic_light] -->
<!--        Autopilot flag is incopatible with goal-oriented navigation -->
            <object name="vehicle1" type="vehicle_4W" start_x="217.50997924804688" start_y="198.75999450683594" start_z="0.50" yaw="-0.16" end_x="299.39996337890625" end_y="199.05999755859375" end_z="0.50" model="vehicle.*" />
            <object name="vehicle2" type="vehicle_4W" autopilot="True" start_x="299.39996337890625" start_y="199.05999755859375" start_z="0.50" yaw="0" end_x="334.8299865722656" end_y="217.0800018310547" end_z="0.5" model="vehicle.lincoln.mkz_2017" />
<!--        Override weather attribute to customize it -->
            <weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
        </scenario>
    </scenarios>
</config>