monoDrive Simulator

Simulator API Commands

Information on sending a message, message types and receiving messages, see Simulator API Introduction.

Closed Loop Configuration

Configures the closed loop simulation.

  • Command ID: "ClosedLoopConfigCommand_ID"

  • Command Data: A closed_loop configuration json

  • Response: (string) One of

    • Successfully configured scenario.
    • Failed to configure scenario. No actors spawned.

Closed Loop Step

Steps the closed loop simulation.

  • Command ID: "ClosedLoopStepCommand_ID"

  • Command Data:

    • time_step: (float) - the fixed time step delta to step

  • Response: (boolean)

    true if the map was properly loaded, false otherwise

EGO Vehicle Control

Configures the ego vehicle used in the simulation run.

  • Command ID: "EgoControl_ID"

  • Command Data:

    • forward_amount: (float) - value between 0.0 and 1.0 referring to the amount of throttle to apply
    • right_amount: (float) - value between -1.0 and 1.0 referring to the wheel position. Positive values are to the right of center
    • brake_amount: (float) - value between 0.0 and 1.0 referring to the amount of braking to apply
    • drive_mode: (integer) - value indicating the drive mode: -1 = reverse, 0 = neutral, 1 = drive

  • Response: (string)

    complete if the control command was applied, or no ego vehicle found if the ego vehicle is not in the simulation.

Get Map

Retrieves the current road network in the requested format.

  • Command ID: "GetMap"

  • Command Data:

    • format: "geojson" | "opendrive" | "point_array"
    • coordinates: "world" | "gis", - UE4 world coordinates or GIS
    • gis_anchor: the reference point to use for GIS coordinates
      • x: (float) latitude
      • y: (float) longitude
      • z: (float) elevation
    • orientation: (float) - rotation to apply
    • point_delta: (float) - distance between lane center points in centimeters

  • Response:

    json object, xml document, or json array, depending on requested format

Get Start Points

Retrieves the set of starting locations for the current simulation map.

  • Command ID: "GetStartPoints"

  • Command Data: {}

  • Response: (json object)

    • type: [ "PIE" | "startPlayer", ... ]
    • locations: [ [x (float), y (float), z (float)],... ]
    • rotations: [ [yaw (float), pitch (float), roll (float)], ... ]

Get Simulator Version

Retrieves the current version of the simulator and of the simulator API with the commands documented on this page.

  • Command ID: "GetVersion"

  • Command Data: {}

  • Response: (string)

    simulator_version: 1.14, api_version: 5.0

Import Map

Replaces the current road network with the supplied one.

  • Command ID: "ImportMap"

  • Command Data: A monoDrive GeoJSON map document

  • Response:(boolean)

    true if the map was properly loaded, false otherwise

Sensor Configuration

Configures a sensor or set of sensors to use with the ego vehicle in the simulation run. The command can take a single sensor configuration, or an array of sensor configurations.

  • Command ID: "REPLAY_ConfigureSensorsCommand_ID"

  • Command Data: sensor_config

  • Response: (string)

    complete if the sensor was properly configured

Trajectory Configuration

Configures the simulation trajectory. The frames on this file provide the location/state of all actors in the simulation as a given point for replay/replay step mode.

  • Command ID: "REPLAY_ConfigureTrajectoryCommand_ID"

  • Command Data: trajectory

  • Response: (string)

    complete if the trajectory was properly applied

Sample Command

Obtain the latest sample from the sensors.

  • Command ID: "SampleSensorsCommand_ID"

  • Command Data: Specify the amount of time to wait for the sensors to return the sample before they timeout.i.e {"timeout":10000}.

  • Response: (string)

    • "An attempt to sample sensors was made but no ego vehicle is registered to the simulator." if for some reason an ego vehicle was not spawn.

Sensor Reconfiguration

Reconfigures a previously configured sensor or set of sensors to use with the ego vehicle in the simulation run. The command takes a single sensor configuration.

  • Command ID: "REPLAY_ReConfigureSensorCommand_ID"

  • Command Data: sensor_config

  • Response: (string)

    complete if the sensor was properly reconfigured

State Step Simulation

Sets the simulation frame to the provided frame.

  • Command ID: "REPLAY_StateStepSimulationCommand_ID"

  • Command Data: A state_frame object

  • Response: (string)

    complete if the simulation was advanced properly

Step the Simulation

Steps the simulation (either forward or backward) by the specified number of frames using the previously configured trajectory.

  • Command ID: "REPLAY_StepSimulationCommand_ID"

  • Command Data:

    • amount: (integer) - the number of steps to advance the simulation by

  • Response: (string)

    complete if the simulation was advanced properly

Simulator Configuration

Used to configure a simulator session. This command includes the settings associated with the simulator session following the execution of the command and applies to all future sessions until the command is run again. The "pys_materials" settings affect the returns from lidar and radar sensors for the list of known materials in the scene.

Spawn Ego Vehicle

Spawns the EGO vehicle using the supplied configuration. This command applies only to closed loop simulations.

Update Command

Update the state of the ego and other actors in the scene based on the message.

  • Command ID: "UpdateStateCommand_ID"

  • Command Data: Frame information for the ego vehicle and other actors.

  • Response: (string)

    • complete if the simulation was updated properly.

Torque Command

Control vehicle applying torque and steering angle to each wheel on the vehicle.

  • Command ID: "EgoTorqueControl_ID"

  • Command Data: String in JSON format containing:

    • Torque applied to brake for each wheel (N*cm)
    • Torque values for each wheel (N*cm)
    • Steering angle (radians)
  • Response: (string)
    • complete if the simulation was updated properly.

Weather Configuration

Configures the weather used in the simulation run. The profiles parameter is optional, and if present, the profiles are added or modified based on the supplied parameters for each profile.

  • Command ID: "WeatherConfig"

  • Command Data: weather_config

  • Response: (string)

    • DynamicWeather is not available if the weather actor is missing from the map
    • Weather configuration failed if the weather profiles are invalid or mal-formed
    • Weather profile is invalid or missing if the profile ID is not found
    • Weather configured to {profile_id} if the weather was properly configured