This class stores osc parameter reference in its original form. Returns the converted value whenever it is used.

This class contains an atomic test for collisions. Args: - actor (carla.Actor): CARLA actor to be used for this test - other_actor (

This class contains an actor destroy behavior. Given an actor this behavior will delete it. Important parameters: - actor: CARLA act

This class contains an atomic behavior to drive a certain distance. Important parameters: - actor: CARLA actor to execute the condition

This class is an idle behavior that waits for a set amount of time before stoping. It is meant to be used with the `ScenarioTimeoutTest`

This class contains the trigger (condition) for a distance to a fixed location of a scenario Important parameters: - actor: CARLA ac

Updates the blackboard to change the parameters of the opposite road behavior. None values imply that these values won't be changed Args

This class contains an atomic behavior to set the transform of an actor. Important parameters: - actor: CARLA actor to execute the b

This class contains an idle behavior scenario Important parameters: - duration[optional]: Duration in seconds of this behavior A te

Atomic behavior that waits until the vehicles has gone outside the junction. If currently inside no intersection, it will wait until one is f

Updates the blackboard to tell the background activity to adapt to a junction scenario Args: clear_junction (bool): Remove all actor

Atomic Criterion to detect if the actor has been incapable of finishing an scenario Args: actor (carla.Actor): CARLA actor to be use

Behavior that freezes a group of traffic lights for a specific amount of time, returning them to their original state after ending it Im

TrafficEvent definition

Behavior that indefinitely creates actors at a location, controls them until another location, and then destroys them. Therefore, a paral

This class provides a very high level route plan.

This class contains the trigger distance (condition) between to actors of a scenario Important parameters: - actor: CARLA actor to e

This class contains a behavior that just waits forever. Useful to stop some behavior sequences from stopping unwated parts of the behavior tr

Updates the blackboard to change the parameters of the road behavior. None values imply that these values won't be changed. Args:

This class contains a check if a actor arrives within a given time at a given location. Important parameters: - actor: CARLA actor t

Updates the blackboard to tell the background activity that the ego needs more space in front. This only works at roads, not junctions.

Source object to store its position and its responsible actors

Updates the blackboard to tell the background activity to (de)activate all route sources

Atomic that switch the OutsideRouteLanesTest criterion. Args: active (bool): True: activated; False: deactivated name (str):

Behavior that support the creation of cut ins. It waits until the actor has passed another actor Parameters: - actor: the one getting in

This is an atomic behavior to follow waypoints while maintaining a given speed. If no plan is provided, the actor will follow its foward wayp

Exceptions thrown when the sensors used by the agent are not allowed for that specific submissions

Updates the blackboard to tell the background activity that its behavior is restriced to a maximum speed

This is a configuration base class to hold model and transform attributes

BasicAgent implements an agent that navigates the scene. This agent respects traffic lights and other vehicles, but ignores stop signs. I

This class contains an atomic behavior to keep the provided velocity. The controlled traffic participant will accelerate as fast as possible

Updates the blackboard to tell the background activity to remove its actors from the given lane and stop generating new ones on this lane, o

Updates the blackboard to tell the background activity to readd the ego road lane. Args: offset: 0 to readd the ego lane, 1 for the

This class contains an atomic stopping behavior. The controlled traffic participant will decelerate with _bake_value_ until reaching a full s

Reflect the status of the decorator's child story element to the blackboard. Args: child: the child behaviour or subtree sto

Atomic behavior that keeps running until the blackboard variable is set to the corresponding value. Used to avoid returning FAILURE if the bl

This class contains an atomic behavior, which uses the basic_agent from CARLA to control the actor until reaching a target location.

This class contains an atomic hand brake behavior. To set the hand brake value of the vehicle. Important parameters: - vehicle: CARL

This class contains the trigger region (condition) of a scenario Important parameters: - actor: CARLA actor to execute the behavior

Similar to ActorFlow, but this is meant as an actor flow in the opposite direction. As such, some configurations are different and for clarit

This class contains a standstill behavior of a scenario Important parameters: - actor: CARLA actor to execute the behavior - name: N

Simple watchdog timer to detect timeouts Args: timeout (float): Timeout value of the watchdog [seconds]. If triggered, raises a Keyb

This class contains an atomic jitter behavior. To add noise to steer as well as throttle of the vehicle. Important parameters: - act

Atomic to change the longitudinal/lateral control logic for an actor. The (actor, controller) pair is stored inside the Blackboard. The

Atomic to change the target speed for an actor controller. The behavior is in RUNNING state until the distance/duration conditions are s

This class inherits from the class WaypointFollower. This class contains an atomic lane change behavior to a parallel lane. The vehicle

Updates the blackboard to tell the background activity that the ego needs more space in front. This only works at roads, not junctions.

LocalPlanner implements the basic behavior of following a trajectory of waypoints that is generated on-the-fly. The low-level motion of

This class provides a basic scenario configuration incl.: - configurations for all actors - town, where the scenario should be executed

This class contains an atomic timeout behavior. It uses the CARLA game time, not the system time which is used by the py_trees timer.

Behavior that support the creation of cut ins. It waits until the actor has passed another actor Parameters: - actor: the one getting in

This test will fail if the actor has had its linear velocity lower than a specific value for a specific amount of time Important paramete

Handles the background activity

This class contains an atomic behavior to set the transform of an actor. Important parameters: - actor_transform_list: list [carla.A

OpenSCENARIO atomic. Atomic to change the offset of the controller. The behavior is in RUNNING state until the offset os reached (if 'co

Atomic to change the waypoints for an actor controller. The behavior is in RUNNING state until the last waypoint is reached, or if a sec

This class contains an atomic behavior to disable/enable the use of the autopilot. Important parameters: - actor: CARLA actor to execute

This is an atomic behavior to change the osc parameter value. Args: parameter_ref (str): parameter name value (any): Paramet

Atomic to update the road friction in CARLA. The behavior immediately terminates with SUCCESS after updating the friction. Args:

Atomic to write a new weather configuration into the blackboard. Used in combination with OSCWeatherBehavior() to have a continuous weather s

This class contains an atomic behavior, which uses the constant_velocity_agent from CARLA to control the actor until reaching a target lo

Atomic to make an actor lane change using a Python API agent, cutting in front of another one The behavior creates a lane change path and is

The test is a success if the actor is never outside route. The actor can go outside of the route but only for a certain amount of distance

This class contains a check if a actor arrives within a given time at another actor. Important parameters: - actor: CARLA actor to e

This class contains the trigger (condition) for a distance to the next intersection of a scenario Important parameters: - actor: CAR

OpenSCENARIO atomic This class contains the trigger condition for a distance to an OpenSCENARIO position Args: actor (carla.Acto

Check at which stage of the route is the actor at each tick Important parameters: - actor: CARLA actor to be used for this test - ro

This class contains a check if a named story element has started/terminated. Important parameters: - element_name: The story element's n

Implementation of the OpenSCENARIO scenario

Limitations: - Only one Story + Init is supported per Storyboard

Atomic to detect if the vehicle is either on a sidewalk or at a wrong lane. The distance spent outside is computed and it is returned as a pe

This class contains method to draw rectangle and find intersection point.

Check at which stage of the route is the actor at each tick Important parameters: - actor: CARLA actor to be used for this test - ro

Behavior responsible for turning the street lights on and off depending on the weather conditions. Only those around the ego vehicle will be

Basic configuration of a RouteScenario

Behavior responsible of the route's timeout. With an initial value, it increases every time the agent advanced through the route, and is depe

Given a set of route weathers ([position, carla.WeatherParameters]), monitors the ego vehicle to dynamically change the weather as the ego ad

Check if an actor is running a red light Important parameters: - actor: CARLA actor to be used for this test - terminate_on_failure

Check if an actor is running a stop sign Important parameters: - actor: CARLA actor to be used for this test - terminate_on_failure

Handles the triggering of the scenarios that are part of a route. Initializes a list of blackboard variables to False, and only sets them to

Sensor to measure the speed of the vehicle.

This is the statistics manager for the CARLA leaderboard. It gathers data at runtime via the scenario evaluation criteria.

Atomic to make two actors arrive at their corresponding places at the same time The behavior is in RUNNING state until the "main" actor has

This enum represents the different tracks of the CARLA AD leaderboard.

Class to simulate weather in CARLA according to the astronomic behavior of the sun The sun position (azimuth and altitude angles) is obtaine

This class contains an atomic acceleration behavior. The car will accelerate until it is faster than another car, in order to catch up distan

This class provides a wrapper (access mechanism) for user-defined actor controls. The controllers are loaded via importlib. Therefore, the mo