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gRPC API Docs


Procedure Definition

Ego

SetEgoCtrlCmd(EgoCtrlCmd) returns (ServiceResponse)

Ego Vehicle Control

SetEgo(SetEgoParam) returns (Result)

Initial configuration after Ego vehicle spawn

SendEgoCruiseCtrl(EgoCruiseCtrl) returns (Empty)

Ego vehicle Cruise Mode configuration

Connect (stream ServiceRequest) returns (stream ServiceResponse)

Enable MORAI SIM to receive vehicle status information from Connect and MORAI SIM.

Status information of Ego and Multi-Ego vehicle can be received as a Return message.

ServiceRequest

ServiceRequest’s each filed is as follows when calling Connect(…) procedure

ServiceResponse

Receiving Ego vehicle’s status information and Multi-Ego vehicle’s status information could be differentiated through service_name field.


MultiEgo

SendMultiEgoCtrlCmd(MultiEgoCtrlCmdList) returns (ServiceResponse)

Multi-Ego vehicle control

SendMultiEgoEventCmd(MultiEgoEventCmdRequestList) returns (MultiEgoEventCmdResponseList)

Multi-Ego vehicle Event control

SendCreateMultiEgoVehicle(CreateMultiEgoVehicleRequestList) returns (ActorResponseList)

If there is an NPC vehicle with the same unique_id in the simulator at the time of the NPC vehicle creation request, NPC vehicle is created by randomly allocating unique_id.

SendDeleteMultiEgoVehicle(DeleteMultiEgoVehicleRequest) returns (ServiceResponse)

Destroy all Multi-ego vehicles

SendDeleteTargetMultiEgoVehicle(TargetUniqueId) returns (Empty)

Destroy Multi-Ego vehicles with only allocated unique_id

Connect (stream ServiceRequest) returns (stream ServiceResponse)

The function of receiving vehicle status information from MORAI SIM is activated and the device could be connected to MORAI SIM

The status information of Multi-Ego vehicle could be received through Return message.

ServiceRequest

The ServiceRequest’s each field is as follows when Connect(…) procedure is called.

ServiceResponse

Receiving Ego vehicle’s status information and Multi-Ego vehicle’s status information is able to be differentiated through service_name field.


Built-in Scenario

LoadSimScenario(Scenario) returns (Empty)

Scenario Loading (Morai’s own format)


Open Scenario

Start(StartRequest) returns (ServiceResponse)

OpenSCENARIO Service Start Command

Stop(StopRequest) returns (ServiceResponse)

OpenSCENARIO Service Stop Command


GetLeftLink(LinkInfo) returns (GetLinkResponse)

Certain Link’s left link query

GetRightLink(LinkInfo) returns (GetLinkResponse)

Certain Link’s right angle link query

GetToLinks(LinkInfo) returns (GetLinkResponseList)

Certain Link’s front link query

GetFromLinks(LinkInfo) returns (GetLinkResponseList)

Certain Link’s rear angle link query

GetVehiclesOnLink(LinkInfo) returns (GetVehiclesOnLinkResponseList)

Return unique_id if certain vehicle is present


SpawnPoint

CreateSpawnPoint(CreateSpawnPointList) returns (ActorResponseList)

Create Spawn Point

EnableSpawnPoint(EnableSpawnPointList) returns (ActorResponseList)

Spawn Point Enable/Disable

SetSpawnPoint(SetSpawnPointList) returns (ActorResponseList)

Set Spawn Point

SetPedestrianSpawnPoint(SetPedestrianSpawnPointList) returns (ActorResponseList)

Set Pedestrian Spawn Point


Traffic

GetTrafficLightInfoByLink(LinkInfo) returns (TLInfo)

Get Traffic Light id and state of certain spot through Link ID

GetTrafficLightInfoByUid(TargetUniqueId) returns (TLInfo)

Get Traffic Light id and state of certain spot through Traffic Light ID

GetIntscnTLInfo(TargetUniqueId) returns (TLInfoList)

Get Traffic Light id and state through IntscnID

SetTrafficLightState(TLStateParamList) returns (ActorResponseList)

Change the state(light color) of a traffic light


Intersection

SetIntersectionState(IntscnStateParamList) returns (ActorResponseList)

Change the state of intersection

SetIntersectionSchedule(IntscnScheduleParamList) returns (ActorResponseList)

Change the schedule of intersection


FaultStatus

SetFaultStatusOnCtrl(FaultInjectionCtrlList) returns (ActorResponseList)

Fault takes places for vehicle [Accel, Brake, Steering]

SetFaultStatusOnTire(FaultInjectionTireList) returns (ActorResponseList)

Fault takes place for vehicle Tire

SetFaultStatusOnSensor(FaultInjectionSensorList) returns (ActorResponseList)

Fault takes place for Sensor attached to the vehicle


Friction

CreateMapObject(CreateMapObjectList) returns (ActorResponseList)

Create friction-controlled objects (e.g., water puddles)

SetFrictionOnArea(FrictionControlAreaList) returns (ActorResponseList)

Configuring Friction-Controllable Objects


Sensor

AddSensor(SensorSettingList) returns (SensorResponseList)

Attachment of sensors to vehicles

RemoveSensor(RemoveSensorList) returns (SensorResponseList)

Remove the sensors attached to the vehicle

SetGroundTruthSensor(SetGroundTruthSensorList) returns(Result)

GT(Ground Truth) sensor configuration

GetGroundTruthData(TargetSensorList) returns(GroundTruthList)

Get GT(Ground Truth) sensor Data


Pedestrian

CreatePedestrian(PedestrianSpawnList) returns (ActorResponseList)

Create pedestrian on simulator scene

SendStartPedestrian(PedestrianActionList) returns (ActorResponseList)

Start pedestrian animation


Obstacle / Object

CreateObstacle(ObstacleSpawnList) returns (ActorResponseList)

Spawn obstacle

DeleteSpawnObstacles(CategoryObstacles) returns (Empty)

Remove obstacle

ObjectPause(ObjectPauseList) returns (Result)

pause / resume certain object allocated with unique_id


Driving Path

SendVehicleRoutes(RouteList) returns (VehicleRouteResultList)

set the vehicle’s driving path based on mgeo link id

SendVehicleDestinations(DestinationList) returns (VehicleRouteResultList)

set the vehicle’s driving path based on the coordinates

SendVehiclePathOffset(PathOffsetList) returns (Empty)

set the extent of vehicle’s lane center maintenance

GetVehicleAuxState(TargetUniqueIdList) returns (VehicleAuxStateInfoList)

Get the vehicle’s Aux state


Simulator

Pause(Empty) returns (Result)

Simulator Pause

Resume(Empty) returns (Result)

Simulator Pause

LoadMap(Map) returns (Result)

Simulator Map Loading


Message Definition


Message Definition

Ego

EgoState

No

Name

Type

Unit

Remarks

1

unique_id

string

-

object’s unique id value

2

acceleration

Vector3

m/s2

ego vehicle’s current acceleration vector value

3

position

Vector3

m

ego vehicle’s current position

4

velocity

Vector3

km/h

ego vehicle’s current speed vector value

5

rotation

Vector3

deg

refers to the vehicle’s heading(deg)

6

accel

float32

-

It has a state value of 0 to 1 of the acceleration pedal of the vehicle.

7

brake

float32

-

It has a state value of 0 to 1 of the brake pedal of the vehicle.

8

front_wheel_angle

float32

rad

Vehicle's current front wheel angle value

9

link_id

MGeoInfo

link information of current driving

10

is_pass_dest_pos

bool

whether it arrives its destination or not

11

remaining_distance

float

m

remaining distance to its destination

12

tl_id

string

Traffic light id adjacent to vehicle driving direction

13

tl_color

TrafficLight.LightColor

The color of the traffic light adjacent to the traveling direction of the vehicle.

SetEgoParam

No

Name

Type

Unit

Remarks

1

position

vector3

2

rotation

Vector3

deg

3

velocity

float

4

cruise_settings

EgoCruiseCtrl

cruise mode setting

5

pause

bool

whether the vehicle pauses or not

EgoCtrlCmd

No

Name

Type

Unit

Remarks

1

longCmdType

int32

index that determines how to control


1: Throttle control, 2: Velocity control, 3: Acceleration control

2

accel

float64

-

It means the acceleration pedal value of the vehicle and has a range of 0 to 1.

3

brake

float64

-

It means the brake pedal value of the vehicle and has a range of 0 to 1.

4

steering

float64

rad

It means a front wheel angle of the vehicle and is in Rad units.

5

velocity

float64

km/h

(Only active if CmdType == 2)

6

acceleration

float64

m/s2

(Only active if CmdType == 3)

EgoCruiseCtrl

No

Name

Type

Unit

Remarks

1

cruise_on

bool

whether to use cruise control mode

2

cruise_type

enum Velocity

ex)
EgoCruiseCtrl.LINK

EgoCruiseCtrl.CONSTANT

3

link_speed_ratio

int32

ratio of the current Link speed limit

4

constant_velocity

float

km/h

target driving speed


MultiEgo

MultiEgoStateList

list of MultiEgoState

No

Name

Type

Unit

Remarks

1

service_name

string

-

Object’s unique id value

2

multi_ego_state_list

List<MultiEgoState>

MultiEgoState

No

Name

Type

Unit

Remarks

1

unique_id

string

Object’s unique id value

2

acceleration

Vector3

m/s2

current acceleration vector value of ego vehicle

3

position

Vector3

m

ego vehicle’s current position

4

velocity

Vector3

km/h

ego vehicle’s current velocity vector value

5

rotation

Vector3

deg

indicates vehicle heading(deg)

6

accel

float32

-

It has a state value of 0 to 1 of the acceleration pedal of the vehicle.

7

brake

float32

-

It has a state value of 0 to 1 of the brake pedal of the vehicle.

8

front_wheel_angle

float32

rad

Vehicle's current front wheel angle value

9

link_id

MGeoInfo

link information in driving

10

is_pass_dest_pos

bool

whether to arrive at the destination

11

remaining_distance

float

m

remaining distance to destination

12

tl_id

string

traffic lights adjacent to the vehicle's direction of travel(traffic light) id

13

tl_color

TrafficLight.LightColor

The color of the traffic light adjacent to the traveling direction of the vehicle.

MultiEgoCtrlCmdList

list of MultiEgoCtrlCmd

No

Name

Type

Unit

Remarks

1

service_name

string

2

multi_ego_ctrl_cmd

List<MultiEgoCtrlCmd>

MultiEgoCtrlCmd

No

Name

Type

Unit

Remarks

1

unique_id

string

Object’s unique id value

2

longCmdType

int32

index that determines how to control
1: Throttle control, 2: Velocity control, 3: Acceleration control

3

accel

float64

-

It means the acceleration pedal value of the vehicle and has a range of 0 to 1.

4

brake

float64

-

It means the brake pedal value of the vehicle and has a range of 0 to 1.

5

steering

float64

rad

It means a wheel angle in front of the vehicle and is in Rad units.

6

velocity

float64

km/h

(Only active if CmdType == 2)

7

acceleration

float64

m/s2

(Only active if CmdType == 3)

MultiEgoEventCmdRequestList

list of MultiEgoEventCmdRequest

No

Name

Type

Unit

Remarks

1

service_name

string

2

cmd_list

List<MultiEgoEventCmdRequest>

MultiEgoEventCmdRequest

No

Name

Type

Unit

Remarks

1

unique_id

string

unique id of vehicle to be controlled

2

option

int8

Field Options Requesting Event Control

(Bit-wise operation)

(1: ctrl_mode, 2:gear, 4:lamps (fields 4 and 5), 8:set_pause)

3

ctrl_mode

int32

Vehicle’s control mode control (1: Keyboard 2: Game Wheel, 3: Automode, 4: cruise mode)

4

gear

int32

Vehicle gear change (-1: Maintain previous state,

1: P, 2: R, 3: N, 4: D)

5

turn_signal

int8

Turn signal control (0:No signal, 1:Left, 2:Right, 3:Leave)

6

emergency_signal

int8

Turn signal control (0: No signal, 1: Emergency signal)

7

set_pause

bool

True: remain in Pause state

False: Switch to play state

MultiEgoEventCmdResponseList

list of MultiEgoEventCmdResponse

No

Name

Type

Unit

Remarks

1

service_name

string

2

res_list

List<MultiEgoEventCmdResponse>

MultiEgoEventCmdResponse

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle’s unique id

2

ctrl_mode

int32

The present state of vehicle’s control mode

3

gear

int32

current gear condition of vehicle
(1: Keyboard 2: GameWheel, 3: automode, 4: cruisemode)

4

turn_signal

int8

turn signal current state
(0: No signal, 1: Left, 2: Right, 3: maintenance of previous status)

5

emergency_signal

int8

turn signal current state
(0: No signal, 1: Emergency signal)

6

set_pause

bool

whether to pause or not

CreateMultiEgoVehicleRequestList

list of CreateMultiEgoVehicleRequest

No

Name

Type

Unit

Remarks

1

service_name

string

2

req_list

List<CreateMultiEgoVehicleRequest>

CreateMultiEgoVehicleRequest

No

Name

Type

Unit

Remarks

1

unique_id

string

Specify the unique id of the Multi-Ego Vehicle to be generated

2

position

Vector3

m

Initial position

3

rotation

Vector3

deg

Initial direction (heading)

4

velocity

float64

km/h

Initial speed

5

vehicleName

string

The name of the vehicle to be created (ex: 2016_Hyundai_Ioniq)

6

pause

bool

True: Keep the pause state of Simulator

False: Switch to play state of Simulator

DeleteMultiEgoVehicleRequest

No

Name

Type

Unit

Remarks

1

req_delete

bool

ServiceRequest

No

Name

Type

Unit

Remarks

1

service_name

string

2

msg

string

ServiceResponse

No

Name

Type

Unit

Remarks

1

service_name

string

Ego vehicle : “/morai_msgs/EgoState“
Multi-Ego vehicle : “/morai_msgs/MultiEgoState“

2

msg

string

Ego Vehicle : EgoState
Multi-Ego Vehicle : list of MultiEgoState


Map

No

Name

Type

Unit

Remarks

1

map_name

string

In the case of the map name NOTE Asset Bundle Map to be executed, it is called as follows.
”V_Extra_Scene,asset_bundle_map_name

2

ego_name

string

Ego vehicle’s model name

Result

No

Name

Type

Unit

Remarks

1

success

bool

procedure execution result

2

description

string

procedure execution result information

Scenario

No

Name

Type

Unit

Remarks

1

scenario_filename

string

MORAI SIM’s scenario file name

Empty

Empty message ( ≈ null message)

Vector3

No

Name

Type

Unit

Remarks

1

x

double

2

y

double

3

z

double

ActorResponseList

list of ActorResponse

No

Name

Type

Unit

Remarks

2

res_list

List<ActorResponse>

ActorResponse

No

Name

Type

Unit

Remarks

1

result

bool

request success or fail

2

actor_name

string

unique id requested from client

3

display_name

string

unique id displayed in Simulator


Open Scenarioge

StartRequest

No

Name

Type

Unit

Remarks

1

service_name

string

“/morai_msgs/StartCmd“

2

cmd_start

bool

whether to start or not

StopRequest

No

Name

Type

Unit

Remarks

1

service_name

string

“/morai_msgs/StopCmd“

2

cmd_start

bool

whether to stop or not


Link

MGeoInfo

No

Name

Type

Unit

Remarks

1

result

bool

get link information success or fail

2

link_id

string

link id

3

waypoint

int64

way point index inside link

LinkInfo

No

Name

Type

Unit

Remarks

1

unique_id

string

Link ID

2

index

int

wayPoint index

GetLinkResponseList

list of GetLinkResponse

No

Name

Type

Unit

Remarks

1

result

bool

2

res_list

List<LinkInfo>

GetLinkResponse

No

Name

Type

Unit

Remarks

1

result

bool

True: the link exists
False: no such link

2

unique_id

string

link id

GetVehiclesOnLinkResponseList

No

Name

Type

Unit

Remarks

1

result

bool

True: the link exists
False: no such link

2

res_list

List<VehicleInfo>

list of vehicle unique id


Pedestrian

PedestrianSpawnList

list of PedestrianSpawn

No

Name

Type

Unit

Remarks

1

req_list

List<PedestrianSpawn>

PedestrianSpawn

No

Name

Type

Unit

Remarks

1

unique_id

string

pedestrian’s unique id

2

position

Vector3

position to spawn

3

rotation

Vector3

direction to spawn

4

velocity

float

km/h

pedestrian moving speed

5

active_dist

float

m

detection range

6

move_dist

float

m

moving distance

7

pedestrian_name

string

pedestrian model name

8

start_action

bool

Whether or not pedestrian walking starts after spawn.

PedestrianActionList

list of PedestrianAction

No

Name

Type

Unit

Remarks

1

req_list

List<PedestrianAction>

PedestrianAction

No

Name

Type

Unit

Remarks

1

unique_id

string

pedestrian unique id


Driving Path

VehicleInfo

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle unique id

RouteList

list of VehicleRoute

No

Name

Type

Unit

Remarks

1

req_list

List<VehicleRoute>

VehicleRoute

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle unique id

2

obj_type

enum Type

ex)
VehicleRoute.EGO

3

link_list

List<LinkInfo>

vehicle path information

DestinationList

list of VehicleDestination

No

Name

Type

Unit

Remarks

1

req_list

List<VehicleDestination>

VehicleDestination

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle unique id

2

obj_type

enum Type

ex)
VehicleDestination.EGO

3

decision_range

float

m

Destination proximity detection range

4

position

vector3

Destination coordinates

VehicleRouteResultList

list of VehicleRouteResult

No

Name

Type

Unit

Remarks

1

res_list

List<VehicleRouteResult>

VehicleRouteResult

No

Name

Type

Unit

Remarks

1

success

bool

2

unique_id

string

3

error_code

enum ERROR_CODE

4

description

string

5

waypoints

LinkInfo

PathOffsetList

list of PathOffset

No

Name

Type

Unit

Remarks

1

req_list

List<PathOffset>

PathOffset

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle unique id

2

obj_type

enum VehicleType

ex)
VehicleType.EGO

3

value

float

%

bias

4

lat_bias_mode

enum OffsetType

ex)
PathOffset.FIX

VehicleAuxStateInfoList

list of VehicleAuxStateInfo

No

Name

Type

Unit

Remarks

1

res_list

List<VehicleAuxStateInfo>

VehicleAuxStateInfo

No

Name

Type

Unit

Remarks

1

unique_id

string

Object’s unique id value

2

isPassDestPos

bool

Whether to arrive at the destination

3

destPos

Vector3

Destination coordinates

4

remaining_distance

float

m

Remaining distance to the destination

5

global_path

LinkInfo

Driving path of MGeo link path information

6

local_path

LinkInfo

Current MGeo link information for vehicles

7

range

float

m

decision range (decision boundary) for determining whether to arrive at the destination


Sensor

SensorSettingList

list of SensorSetting

No

Name

Type

Unit

Remarks

1

req_list

List<SensorSetting>

SensorSetting

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle’s unique id

2

sensor_type

enum SensorType

ex)
SensorType.GPS

3

position

vector3

Sensor attachment position

4

rotation

vector3

Sensor attachment direction

SensorResponseList

list of SensorResponse

No

Name

Type

Unit

Remarks

1

res_list

List<SensorResponse>

SensorResponse

No

Name

Type

Unit

Remarks

1

success

bool

success or fail

2

target_id

string

vehicle ID

3

sensor_id

string

sensor ID

RemoveSensor

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle ID

2

sensor_id

string

sensor ID

SetGroundTruthSensorList

list of SetGroundTruthSensor

No

Name

Type

Unit

Remarks

1

req_list

List<SetGroundTruthSensor>

SetGroundTruthSensor

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle ID

2

sensor_id

string

sensor ID

3

gt_setting

struct

GT sensor setting parameters

4

viz_range

bool

m

Whether GT sensor is visualized as detectable area.

TargetSensorList

list of TargetSensor

No

Name

Type

Unit

Remarks

1

req_list

List<TargetSensor>

TargetSensor

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle ID

2

sensor_id

string

sensor ID


Ground Truth

GT_setting

No

Name

Type

Unit

Remarks

1

shape_type

enum GTShapeType

2

cylinder_setting

GTCylinderSetting

3

cone_setting

GTConeSetting

4

filter

enum ObstacleObjType

None = 0,
Vehicle = 1,
Pedestrian = 2,
EgoVehicle = 3,
Obstacle = 4,
SpawnPoint = 5,
MovingObject = 6,
ExtraObstacle = 7,
SSAFYSpawnPoint = 8,
DestinationPoint = 9,
StopoverPoint = 10,
PedSpawnPoint = 11,
ShadedArea = 12,
MapObject = 13,
MAX = 14

5

max_count

int

maximum # of objects,
once it is set as -1, then it is unlimited

GTCylinderSetting

No

Name

Type

Unit

Remarks

1

segments

int

top plane figure

2

vertical_fov

float

deg

Field of View

3

range

float

m

cylinder length

GTConeSetting

No

Name

Type

Unit

Remarks

1

segments

int

top plane figure

2

vertical_fov

float

deg

Field of View

3

horizontal_fov

float

deg

Field of View

4

range_min

float

m

Detection range = {range_max - range_min, range_max}

5

range_max

float

m

6

resolution

int

smoothness degree of the surface of the cone(number of vertex)
maximum resolution == 10,
minimum resolution == 2

GroundTruthList

list of GroundTruth

No

Name

Type

Unit

Remarks

1

res_list

List<GroundTruth>

GroundTruth

No

Name

Type

Unit

Remarks

1

success

bool

2

data

List<ObjectStatus>


SpawnPoint

CreateSpawnPointList

list of CreateSpawnPoint

No

Name

Type

Unit

Remarks

1

req_list

List<CreateSpawnPoint>

CreateSpawnPoint

No

Name

Type

Unit

Remarks

1

unique_id

string

spawn point unique id

2

position

Vector3

spawn point position coordinates

3

sub_category

enum ScenarioETC.SUBCATEGORY

ex)
ScenarioETC.SPAWN_POINT

EnableSpawnPointList

list of EnableSpawnPoint

No

Name

Type

Unit

Remarks

1

req_list

List<EnableSpawnPoint>

EnableSpawnPoint

No

Name

Type

Unit

Remarks

1

unique_id

string

spawn point / pedestrian spawn point unique id

2

is_active

bool

True : enable
False : diable

SetSpawnPointList

list of SetSpawnPoint

No

Name

Type

Unit

Remarks

1

req_list

List<SetSpawnPoint>

SetSpawnPoint

No

Name

Type

Unit

Remarks

1

unique_id

string

unique id of spawn point

2

info

SpawnPointInfo

3

spawn_object_name

string

model name of spawn object

4

pause

bool

SpawnPointInfo

No

Name

Type

Unit

Remarks

1

list_vehicle_length_type

enum VehicleClass.VehicleLengthType

ex)
VehicleClass.VehicleLengthType.MINI

2

is_close_loop

bool

spawn vehicle path option

3

is_lane_change

bool

spawn vehicle path option

4

parameter_type

enum DesiredVelocityType.ParameterType

ex)
DesiredVelocityType.ParameterType.CONSTANT

5

maximum_spawn_vehicle

int32

maximum number of spawn vehicle

6

min_spawn_period

float

sec

spawn cycle setting

7

max_spawn_period

float

sec

spawn cycle setting

8

spawn_velocity_type

enum CruiseModeType.VelocityType

ex)
CruiseModeType.VelocityType.CUSTOM_VELOCITY

9

min_spawn_velocity_custom

float

km/s

set the initial speed of spawn vehicles

10

max_spawn_velocity_custom

float

km/s

set the initial speed of spawn vehicles

11

min_spawn_velocity_link

float

%

set the initial speed of spawn vehicles

12

max_spawn_velocity_link

float

%

set the initial speed of spawn vehicles

13

desired_velocity_type

enum CruiseModeType.VelocityType

ex)
CruiseModeType.VelocityType.CUSTOM_VELOCITY

14

min_desired_velocity_custom

float

km/s

set the target speed of spawn vehicle

15

max_desired_velocity_custom

float

km/s

set the target speed of spawn vehicle

16

min_desired_velocity_link

float

%

set the target speed of spawn vehicle

17

max_desired_velocity_link

float

%

set the target speed of spawn vehicle

18

destination_obj_unique_id

int32

unique id of destination

19

start_link_info

LinkInfo

link information of the starting point of driving

20

end_link_info

LinkInfo

link information of driving completion point

21

lateral_bias_mode

enum BiasMode.LatBiasMode

set lateral bias
ex)
BiasMode.LatBiasMode.FIX

22

min_lateral_bias

float

%

set lateral bias

23

max_lateral_bias

float

%

set lateral bias


PedestrianSpawnPoint

SetPedestrianSpawnPointList

list of SetPedestrianSpawnPoint

No

Name

Type

Unit

Remarks

1

req_list

List<SetPedestrianSpawnPoint>

SetPedestrianSpawnPoint

No

Name

Type

Unit

Remarks

1

unique_id

string

unique id of spawn point

2

info

PedestrianSpawnPointInfo

3

spawn_object_name

string

model name of spawn object

4

pause

pause

PedestrianSpawnPointInfo

No

Name

Type

Unit

Remarks

1

list_pedestrian_desination

List<PedestrianDestinationPointInfo>

pedestrian destination setting

2

pedestrian_random_mode

bool

spawn random model

3

select_mode

enum PedestrianBehavior.CHARACTER_MODE

ex)
PedestrianBehavior.CHARACTER_MODE.STAND

4

min_count

int32

minimum number of spawn

5

max_count

int23

maximum number of spawn

6

spawn_time

float

sec

spawn cycle

PedestrianDestinationPointInfo

No

Name

Type

Unit

Remarks

1

position

Vector3

2

rotation

Vector3

3

scale

Vector3


TrafficLight

TLInfo

No

Name

Type

Unit

Remarks

1

success

bool

2

tl_id

string

traffic light unique id

3

tl_color

enum TrafficLight.LightColor

ex)
TrafficLight.LightColor.SG

TLInfoList

list of TLInfo

No

Name

Type

Unit

Remarks

1

res_list

List<TLInfo>

TLStateParamList

list of TLStateParam

No

Name

Type

Unit

Remarks

1

req_list

List<TLStateParam>

TLStateParam

No

Name

Type

Unit

Remarks

1

tl_id

string

unique id of traffic light

2

tl_color

enum TrafficLight.LightColor

ex)
TrafficLight.LightColor.SG

3

is_impulse

bool

True : temporarily change traffic light color
False : permanent traffic light color change

4

set_sibling

bool

True : Change the color of traffic lights located on the same entry road as tl_id.
Fasle : Only change the color of traffic lights corresponding to tl_id


Intersection

IntscnStateParamList

list of IntscnStateParam

No

Name

Type

Unit

Remarks

1

req_list

List<IntscnStateParam>

IntscnStateParam

No

Name

Type

Unit

Remarks

1

intscn_id

string

unique id of intersection

2

state_idx

int32

set the state of intersection

IntscnScheduleParamList

list of IntscnScheduleParam

No

Name

Type

Unit

Remarks

1

req_list

List<IntscnScheduleParam>

IntscnScheduleParam

No

Name

Type

Unit

Remarks

1

intscn_id

string

unique id of intersection

2

tl_schedule

List<TrafficLight.TLSchedule>

3

yellow_duration

List<TrafficLight.YellowSchedule>

4

ps_schedule

List<TrafficLight.PSSchedule>

TrafficLight.TLSchedule

No

Name

Type

Unit

Remarks

1

duration

int32

sec

state duration of traffic light

2

str_light_color_list

List<string>

The color list that should appear in that state of traffic light

TrafficLight.YellowSchedule

No

Name

Type

Unit

Remarks

1

duration

int32

sec

duration of yellow light during state transition

TrafficLight.PSSchedule

No

Name

Type

Unit

Remarks

1

tl_state_idx

int32

state index

2

synced_tl_idx

int32

synchronized traffic light index where pedestrian traffic lights turn green together

3

before_sec

int32

sec

4

green_light_sec

int32

sec

duration of green light

5

flicker_light_sec

int32

sec

duration of flashing green light


FaultInjection

FaultInjectionCtrlList

list of FaultInjectionCtrl

No

Name

Type

Unit

Remarks

1

req_list

List<FaultInjectionCtrl>

FaultInjectionCtrl

No

Name

Type

Unit

Remarks

1

unique_id

string

unique id of vehicle

2

fault_location

int32

vehicle’s fault location
{2 : Accel, 3 : BRAKE, 4 : STEERING}

3

fault_class

int32

fault major category
{1 : Timing, 2 : Data, 3 : Hardware}

4

fault_subclass

int32

fault small category
The highest digit of each number below must match the fault class.
{101 : LOSS_AND_TIMEOUT,
102 : DELAYED,
201 : OPEN,
202 : SHORT,
203 : OFFSET,
204 : STUCK_IN_RANGE,
205 : OUT_OF_DATA,
206 : DRIFT_AND_OSCILLATION,
301 : PUNCTURE,
302 : TRANSFORM
}

FaultInjectionTireList

list of FaultInjectionTire

No

Name

Type

Unit

Remarks

1

req_list

List<FaultInjectionTire>

FaultInjectionTire

No

Name

Type

Unit

Remarks

1

unique_id

string

2

tire_index

int32

3

fault_class

int32

4

fault_subclass

int32

FaultInjectionSensorList

list of FaultInjectionSensor

No

Name

Type

Unit

Remarks

1

req_list

List<FaultInjectionSensor>

FaultInjectionSensor

No

Name

Type

Unit

Remarks

1

unique_id

string

2

sensor_id

string

3

fault_class

int32

4

fault_subclass

int32

5

local_position_offset

Vector3

6

local_rotation_offset

Vector3


Obstacle / Object

ObstacleSpawnList

list of ObstacleSpawn

No

Name

Type

Unit

Remarks

1

req_list

List<ObstacleSpawn>

ObstacleSpawn

No

Name

Type

Unit

Remarks

1

unique_id

string

Obstacle ID

2

position

Vector3

3

rotation

Vector3

4

scale

Vector3

5

obstacle_name

string

model name

CategoryObstacles

No

Name

Type

Unit

Remarks

1

vehicle

bool

2

pedestrian

bool

3

obstacle

bool

4

spawn_point

bool

5

map_object

bool

CreateMapObjectList

list of CreateMapObject

No

Name

Type

Unit

Remarks

1

req_list

List<CreateMapObject>

CreateMapObject

No

Name

Type

Unit

Remarks

1

unique_id

string

2

position

Vector3

3

rotation

Vector3

4

spawn_object_name

string

ObjectStatus

No

Name

Type

Unit

Remarks

1

unique_id

string

vehicle ID

2

type

int

vehicle = 1,
pedestrian = 2,
obstacle = 4

3

name

string

model name

4

heading

double

deg

5

position

vector3

6

acceleration

vector3

m/s2

7

velocity

vector3

8

size

vector3

ObjectPauseList

list of ObjectPause

No

Name

Type

Unit

Remarks

1

req_list

List<ObjectPause>

ObjectPause

No

Name

Type

Unit

Remarks

1

unique_id

string

object’s unique id

2

obj_type

enum Type

set the vehicle type

3

set_pause

bool

True : pause
False : Resume

TargetUniqueIdList

list of TargetUniqueId

No

Name

Type

Unit

Remarks

1

id_list

List<TargetUniqueId>

Object’s unique id value

TargetUniqueId

No

Name

Type

Unit

Remarks

1

unique_id

string

Object’s unique id value


Friction

FrctionControlAreaList

list of FrictionControlArea

No

Name

Type

Unit

Remarks

1

req_list

List<FrictionControlArea>

FrictionControlArea

No

Name

Type

Unit

Remarks

1

unique_id

string

2

vertical_radius

float

deg

3

horizontal_radius

float

deg

4

height

float

m

5

multiplier

float


Enum Type Definition

Velocity

No

Name

Type

Unit

Remarks

1

_Begin

2

LINK

(Link Speed Limit * drive at link_speed_ratio)

3

CONSTANT

drive at (target driving speed)

4

_End

Type

No

Name

Type

Unit

Remarks

1

_Begin

2

EGO

3

MULTIEGO

4

_End

VehicleType

No

Name

Type

Unit

Remarks

1

_Begin

2

EGO

3

MULTIEGO

4

_End

ERROR_CODE

No

Name

Type

Unit

Remarks

1

SUCCESS

2

FAILED

3

NULL_EXCEPTION

4

NOT_FOUND_UNIQUE_ID

5

NOT_CREATE_OBJECT

6

EMPTY_LIST

7

NOT_EGO_CRUISE_MODE

8

NOT_FOUND_LINK_ID

9

NOT_FOUND_PATH

10

DIFFERENT_START_LINK

OffsetType

No

Name

Type

Unit

Remarks

1

_Begin

2

FIX

fixed to a set value

3

RANDOM_GAUSSIAN

Gaussian distribution

4

_END

SensorType

No

Name

Type

Unit

Remarks

1

None

2

Camera

3

Lidar3D

4

Lidar2D

5

GPS

6

IMU

7

Radar

8

Ultrasonic

9

GroundTruth

get Ground Truth information

10

END

GTShapeType

No

Name

Type

Unit

Remarks

1

_BEGIN

2

Cylinder

3

Cone

4

_End

ScenarioETC.SUBCATEGORY

No

Name

Type

Unit

Remarks

1

_BEGIN

2

SPAWN_POINT

vehicle spawn point

3

PED_SPAWN_POINT

pedestrian spawn point

4

_END

VehicleClass.VehicleLengthType

No

Name

Type

Unit

Remarks

1

MINI

vehicle size

2

COMPACT

vehicle size

3

MIDDLE_SIZE

vehicle size

4

LARGE

vehicle size

DesiredVelocityType.ParameterType

No

Name

Type

Unit

Remarks

1

_BEGIN

2

CONSTANT

follow a specified target speed

3

VARIABLE

[MIN, MAX] range speed

4

_END

CruiseModeType.VelocityType

No

Name

Type

Unit

Remarks

1

_BEGIN

2

LINK_VELOCITY

Drive at (Link speed limit *link_speed_ratio)

3

CUSTOM_VELOCITY

driving at (target speed)

4

_END

BiasMode.LatBiasMode

No

Name

Type

Unit

Remarks

1

_BEGIN

2

FIX

fixed to a set value

3

RANDOM_GAUSSIAN

Gaussian distribution

4

_END

PedestrianBehavior.CHARACTER_MODE

No

Name

Type

Unit

Remarks

1

_BEGIN

2

ONCE

3

CLOSED_LOOP

4

REPEAT

5

LOOP

6

NEW_PATH

7

STAND

8

_END

TrafficLight.LightColor


No

Name

Type

Unit

Remarks

1

_BEGIN

2

R

Red

3

Y

Yellow

4

SG

StraightGreen

5

LG

Left

6

RG

Right Green

7

UTG

UTurnGreen

8

ULG

UpperLeftGreen

9

URG

UpperRightGreen

10

LLG

LowerLeftGreen

11

LRG

LowerRightGreen

12

R_WITH_Y

Red_WITH_Yellow

13

Y_WITH_G

Yellow_WITH_Green

14

Y_WITH_GLEFT

Yellow_WITH_GreenLEFT

15

G_WITH_GLEFT

Green_WITH_GreenLEFT

16

R_WITH_GLEFT

Red_WITH_GreenLEFT

17

LLG_SG

LowerLeftGreen_StraightGreen

18

R_LLG

Red_LowerLeftGreen

19

ULG_URG

UpperLeftGreen_UpperRightGreen

20

UNDEFINED

Traffic light does not get initialized

21

NOT_DETECTED

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