def reset_other_vehicles()

in CARLA_0.9.6/PythonAPI/carla/agents/navigation/carla_env.py [0:0]

• 35 lines of code
• 12 McCabe index (conditional complexity)

    def reset_other_vehicles(self):
        if not self.is_other_cars:
            return

        # clear out old vehicles
        self.client.apply_batch([carla.command.DestroyActor(x) for x in self.vehicles_list])
        self.world.tick()
        self.vehicles_list = []

        blueprints = self.world.get_blueprint_library().filter('vehicle.*')
        blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]

        num_vehicles = 10
        other_car_transforms = []
        for _ in range(num_vehicles):
            lane_id = random.choice([1, 2, 3, 4])
            start_x = 1.5 + 3.5 * lane_id
            start_y = random.uniform(-40., 40.)
            transform = carla.Transform(carla.Location(x=start_x, y=start_y, z=0.1), carla.Rotation(yaw=-90))
            other_car_transforms.append(transform)

        # Spawn vehicles
        batch = []
        for n, transform in enumerate(other_car_transforms):
            blueprint = random.choice(blueprints)
            if blueprint.has_attribute('color'):
                color = random.choice(blueprint.get_attribute('color').recommended_values)
                blueprint.set_attribute('color', color)
            if blueprint.has_attribute('driver_id'):
                driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
                blueprint.set_attribute('driver_id', driver_id)
            blueprint.set_attribute('role_name', 'autopilot')
            batch.append(carla.command.SpawnActor(blueprint, transform).then(
                carla.command.SetAutopilot(carla.command.FutureActor, True)))
        for response in self.client.apply_batch_sync(batch, False):
            self.vehicles_list.append(response.actor_id)

        for response in self.client.apply_batch_sync(batch):
            if response.error:
                pass
                # print(response.error)
            else:
                self.vehicles_list.append(response.actor_id)