| 81 | return gps |
| 82 | |
| 83 | def sensors(self): |
| 84 | return [ |
| 85 | { |
| 86 | 'type': 'sensor.camera.rgb', |
| 87 | 'x': -1.5, 'y': 0.0, 'z': 2.0, |
| 88 | 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 89 | 'width': 900, 'height': 256, 'fov': 100, |
| 90 | 'id': 'rgb_front' |
| 91 | }, |
| 92 | { |
| 93 | 'type': 'sensor.camera.semantic_segmentation', |
| 94 | 'x': 1.3, 'y': 0.0, 'z': 2.3, |
| 95 | 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 96 | 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 97 | 'id': 'seg_front' |
| 98 | }, |
| 99 | { |
| 100 | 'type': 'sensor.camera.depth', |
| 101 | 'x': 1.3, 'y': 0.0, 'z': 2.3, |
| 102 | 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 103 | 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 104 | 'id': 'depth_front' |
| 105 | }, |
| 106 | # { |
| 107 | # 'type': 'sensor.camera.rgb', |
| 108 | # 'x': -1.3, 'y': 0.0, 'z': 2.3, |
| 109 | # 'roll': 0.0, 'pitch': 0.0, 'yaw': 180.0, |
| 110 | # 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 111 | # 'id': 'rgb_rear' |
| 112 | # }, |
| 113 | # { |
| 114 | # 'type': 'sensor.camera.semantic_segmentation', |
| 115 | # 'x': -1.3, 'y': 0.0, 'z': 2.3, |
| 116 | # 'roll': 0.0, 'pitch': 0.0, 'yaw': 180.0, |
| 117 | # 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 118 | # 'id': 'seg_rear' |
| 119 | # }, |
| 120 | # { |
| 121 | # 'type': 'sensor.camera.depth', |
| 122 | # 'x': -1.3, 'y': 0.0, 'z': 2.3, |
| 123 | # 'roll': 0.0, 'pitch': 0.0, 'yaw': 180.0, |
| 124 | # 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 125 | # 'id': 'depth_rear' |
| 126 | # }, |
| 127 | # { |
| 128 | # 'type': 'sensor.camera.rgb', |
| 129 | # 'x': 1.3, 'y': 0.0, 'z': 2.3, |
| 130 | # 'roll': 0.0, 'pitch': 0.0, 'yaw': -60.0, |
| 131 | # 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 132 | # 'id': 'rgb_left' |
| 133 | # }, |
| 134 | # { |
| 135 | # 'type': 'sensor.camera.semantic_segmentation', |
| 136 | # 'x': 1.3, 'y': 0.0, 'z': 2.3, |
| 137 | # 'roll': 0.0, 'pitch': 0.0, 'yaw': -60.0, |
| 138 | # 'width': self._sensor_data['width'], 'height': self._sensor_data['height'], 'fov': self._sensor_data['fov'], |
| 139 | # 'id': 'seg_left' |
| 140 | # }, |