objects.json

{
  "objects": [
    {
      "type": "sensor.pseudo.traffic_lights",
      "id": "traffic_lights"
    },
    {
      "type": "sensor.pseudo.objects",
      "id": "objects"
    },
    {
      "type": "sensor.pseudo.actor_list",
      "id": "actor_list"
    },
    {
      "type": "sensor.pseudo.markers",
      "id": "markers"
    },
    {
      "type": "vehicle.toyota.prius",
      "id": "ego_vehicle",
      "sensors": [
        {
          "type": "sensor.camera.rgb",
          "id": "rgb_front",
          "spawn_point": { "x": 0.7, "y": 0.0, "z": 1.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 },
          "image_size_x": 1280,
          "image_size_y": 720,
          "fov": 100.0
        },
        {
          "type": "sensor.camera.rgb",
          "id": "rgb_view",
          "spawn_point": { "x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0 },
          "image_size_x": 800,
          "image_size_y": 600,
          "fov": 90.0,
          "attached_objects": [
            {
              "type": "actor.pseudo.control",
              "id": "control"
            }
          ]
        },
        {
          "type": "sensor.lidar.ray_cast",
          "id": "lidar",
          "spawn_point": { "x": 0.0, "y": 0.0, "z": 2.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 },
          "range": 50,
          "channels": 32,
          "points_per_second": 320000,
          "upper_fov": 2.0,
          "lower_fov": -26.8,
          "rotation_frequency": 20,
          "noise_stddev": 0.0
        },
        {
          "type": "sensor.other.gnss",
          "id": "gnss",
          "spawn_point": { "x": 0.0, "y": 0.0, "z": 1.6 },
          "noise_alt_stddev": 0.0,
          "noise_lat_stddev": 0.0,
          "noise_lon_stddev": 0.0,
          "noise_alt_bias": 0.0,
          "noise_lat_bias": 0.0,
          "noise_lon_bias": 0.0
        },
        {
          "type": "sensor.other.imu",
          "id": "imu",
          "spawn_point": { "x": 0.0, "y": 0.0, "z": 1.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 },
          "noise_accel_stddev_x": 0.0,
          "noise_accel_stddev_y": 0.0,
          "noise_accel_stddev_z": 0.0,
          "noise_gyro_stddev_x": 0.0,
          "noise_gyro_stddev_y": 0.0,
          "noise_gyro_stddev_z": 0.0,
          "noise_gyro_bias_x": 0.0,
          "noise_gyro_bias_y": 0.0,
          "noise_gyro_bias_z": 0.0
        },
        {
          "type": "sensor.other.collision",
          "id": "collision",
          "spawn_point": { "x": 0.0, "y": 0.0, "z": 0.0 }
        },
        {
          "type": "sensor.other.lane_invasion",
          "id": "lane_invasion",
          "spawn_point": { "x": 0.0, "y": 0.0, "z": 0.0 }
        },
        {
          "type": "sensor.pseudo.tf",
          "id": "tf"
        },
        {
          "type": "sensor.pseudo.objects",
          "id": "objects"
        },
        {
          "type": "sensor.pseudo.odom",
          "id": "odometry"
        },
        {
          "type": "sensor.pseudo.speedometer",
          "id": "speedometer"
        },
        {
          "type": "actor.pseudo.control",
          "id": "control"
        }
      ]
    }
  ]
}