From 9c3c7b2f7da9fbdd0d7aa6e0c062465b6dfd352d Mon Sep 17 00:00:00 2001 From: iejMac <61431446+iejMac@users.noreply.github.com> Date: Wed, 10 Mar 2021 21:57:24 -0800 Subject: [PATCH] tuning simulator parameters (#20304) * regular and low quality * low_quality instead of quality * fix old-commit-hash: baf07191d258d86b324b85cb5641cddc1d2b1ad7 --- tools/sim/bridge.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 98833a7f10..eec5810dd2 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -17,9 +17,11 @@ from selfdrive.test.helpers import set_params_enabled parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.') parser.add_argument('--joystick', action='store_true') -parser.add_argument('--town', type=str, default='Town04') +parser.add_argument('--town', type=str, default='Town04_Opt') parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16) +parser.add_argument('--low_quality', type=bool, default=False) + args = parser.parse_args() W, H = 1164, 874 @@ -133,6 +135,14 @@ def bridge(q): client.set_timeout(10.0) world = client.load_world(args.town) + if args.low_quality: + world.unload_map_layer(carla.MapLayer.Foliage) + world.unload_map_layer(carla.MapLayer.Buildings) + world.unload_map_layer(carla.MapLayer.ParkedVehicles) + world.unload_map_layer(carla.MapLayer.Particles) + world.unload_map_layer(carla.MapLayer.Props) + world.unload_map_layer(carla.MapLayer.StreetLights) + blueprint_library = world.get_blueprint_library() world_map = world.get_map()