No support for other sensors?

[angelomorgado]

Hey, as mentioned in the title, i'm questioning if it is possible to configure the agent's observation space with diferent sensors such as LiDAR and Radar. Is that not possible? And if not how easy is it to fork the project and add more sensors?

Thanks for the attention.

[praveen-palanisamy]

Hi @angelomorgado ,
Thank you for your interest in MACAD-Gym. Currently, the observation space of the agents is based on RGB cameras and collision sensors as that used to be what a majority of the use cases needed. Adding other sensors such as LiDAR and Radar that are supported by CARLA is possible and relatively easy.
You can fork the project and add the LIDAR/RADAR sensor to the core sensors. For a sample, you can refer to the CameraManager and setup a LidarManager and/or RadarManager to add those sensors to the vehicles and extend the existing environment configurations to customize a new learning environment.
Looking forward to seeing what you build, and it would be great to have your contribution via a PR. Please feel free to post your feedback/comments if you need further pointers.

[angelomorgado]

Thanks for the quick response! By the way, is there any way I can generate random scenarios instead of the two you provide for the agent's training?