State
The state sensor is created during a simulation to output state information for
actors with the "desired_tags" and cull out information of actors with the
"undesired_tags". All the information for the actor is returned in the global coordinate frame.
This information can be serialized to a monoDrive Trajectory File and played back in Replay Mode.
Configuration
[
{
"type": "State",
"listen_port": 8700,
"rotation": {
"pitch": 0.0,
"roll": 0.0,
"yaw": 0.0
},
"location": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"desired_tags": [
"vehicle"
],
"undesired_tags": [
"static"
],
"debug_drawing": false,
"include_obb": true
}
]
- desired_tags: An array of actor tags to output with the state sensor. Any actor with these tags (and no tags in the
undesired_tagsarray) will be output. - undesired_tags: An array of actor tags to exclude from output. Any actor with one of these tags will not be included.
- debug_drawing: If true, and
include_obbis true, the oriented bounding boxes for each actor in the output will be drawn. - include_obb: If true, the oriented bounding box information will be included for every actor.
Raw Output
[
{
"frame": {
"objects": [
{
"name": "Misc_TrafficCone_2",
"odometry": {
"angular_velocity": {
"x": null,
"y": 0.0,
"z": 0.0
},
"linear_velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"pose": {
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"position": {
"x": 12200.0,
"y": 3710.0,
"z": 10.0
}
}
},
"oriented_bounding_box": [
{
"center": {
"x": 12199.9521484375,
"y": 3710.02758789062,
"z": 37.2839050292969
},
"extents": {
"x": 32.3424224853516,
"y": 32.3816871643066,
"z": 64.438591003418
},
"name": "None",
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"scale": {
"x": 1.0,
"y": 1.0,
"z": 1.0
}
}
],
"tags": [
"cone"
]
}
],
"vehicles": [
{
{
"control_state": {
"lane_change_left": false,
"lane_change_right": false,
"lane_id": 1,
"road_id": 0,
"s": 5077.20947265625,
"section_id": 0
},
"state": {
"name": "compact_monoDrive_01_2",
"odometry": {
"angular_velocity": {
"x": 0.176449194550514,
"y": 0.0175474192947149,
"z": -0.517025172710419
},
"linear_velocity": {
"x": -1072.10705566406,
"y": 102.813850402832,
"z": -3.0032639503479
},
"pose": {
"orientation": {
"w": 0.0343129225075245,
"x": -0.000261345121543854,
"y": -0.0231100562959909,
"z": 0.999143958091736
},
"position": {
"x": 8302.064453125,
"y": 4282.83154296875,
"z": 6.68744659423828
}
}
},
"oriented_bounding_box": [
{
"center": {
"x": 8301.8271484375,
"y": 4278.1474609375,
"z": 96.9822463989258
},
"extents": {
"x": 180.120330810547,
"y": 141.698760986328,
"z": 415.024993896484
},
"name": "Body",
"orientation": {
"w": 0.508013129234314,
"x": 0.53005838394165,
"y": 0.467878460884094,
"z": 0.49198642373085
},
"scale": {
"x": 1.0,
"y": 1.0,
"z": 1.0
}
}
],
"tags": [
"vehicle",
"dynamic",
"car",
"ego"
]
},
"wheels": [
{
"id": 0,
"pose": {
"orientation": {
"w": -1.0,
"x": -2.42143833872888e-08,
"y": -4.05416322735164e-08,
"z": -2.23517382380578e-08
},
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"speed": 35.477783203125
},
{
"id": 1,
"pose": {
"orientation": {
"w": -0.42500364780426,
"x": -0.062142189592123,
"y": -0.902581810951233,
"z": 0.0292612351477146
},
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"speed": 38.278190612793
},
{
"id": 2,
"pose": {
"orientation": {
"w": -0.208940535783768,
"x": -0.0615476667881012,
"y": -0.975900650024414,
"z": 0.0131773687899113
},
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"speed": 35.0245780944824
},
{
"id": 3,
"pose": {
"orientation": {
"w": -0.468537330627441,
"x": 0.0,
"y": -0.883443713188171,
"z": -8.88178419700125e-16
},
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"speed": 37.7250938415527
}
]
}
]
},
"game_time": 1.01402580738068,
"sample_count": 1,
"time": 1593614676
}
]
- frame: An array of all actors' state information for a single simulation step
- objects An array of object actors' in the scene
- name: The name of the actor in the scene
- odometry
- angular_velocity: The angular velocity of the actor in radians/second
- linear_velocity: The linear velocity of the actor in centimeter/second
- pose: Determines the position and orientation of the actor
- orientation: The rotation of the actor as a quaternion
- position: The position of this actor in the scene in centimeters relative to the origin
- oriented_bounding_box: The bounding box of the actor in the scene
- center: The location of the center of the box in centimeters relative to the origin
- extents: The extents of the box from the center in centimeters
- name: The name of the object this box is bounding
- orientation: The rotation of the box as a quaternion
- scale: The scale of this box as a coefficient
- tags: The actor tags of this actor
- vehicles An array of vehicle actors' in the scene
- control_state
- lane_change_left: The vehicle is considered to be in a left lane change.
- lane_change_right: The vehicle is considered to be in a right lane change.
- lane_id: The opendrive lane id, changes to new lane id as soon as the vehicle begins the lane change.
- road_id: The opendrive road id.
- s: The opendrive distance along the road.
- section_id: The opendrive section id along the lane.
- state
- name: The name of the actor in the scene
- odometry
- angular_velocity: The angular velocity of the actor in radians/second
- linear_velocity: The linear velocity of the actor in centimeter/second
- pose: Determines the position and orientation of the vehicle actor
- orientation: The rotation of the actor as a quaternion
- position: The position of this actor in the scene in centimeters relative to the origin
- oriented_bounding_box: The bounding box of the actor in the scene
- center: The location of the center of the box in centimeters relative to the origin
- extents: The extents of the box in centimeters
- name: The name of the object this box is bounding
- orientation: The rotation of the box as a quaternion
- scale: The scale of this box as a coefficient
- tags: The actor tags of this actor
- wheels: Array of orientation information for each wheel as quaternions.
- id:
- pose: Determines the position and orientation of the wheel actor
- orientation: The rotation of the wheels as a quaternion
- position: The position of the wheels in the scene in centimeters relative to the origin
- speed: The angular velocity of each of this actor's wheels in radians/second. Index 0, 1, 2, 3 correspond to front-left, front-right, rear-left, rear-right respectively
- game_time Time since the simulation started
- sample_count Sample number since the sensor started streaming
- time The time in UTC seconds when this sample was acquired