Updated metric examples and updated to 0.9.13

CARLA_VER

@@ -1,2 +1,2 @@
 HOST = https://carla-releases.s3.eu-west-3.amazonaws.com/Linux
-RELEASE=CARLA_0.9.12
+RELEASE=CARLA_0.9.13

Docs/CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Table of Contents
 * [Latest Changes](#latest-changes)
+* [CARLA ScenarioRunner 0.9.13](#carla-scenariorunner-0913)
 * [CARLA ScenarioRunner 0.9.12](#carla-scenariorunner-0912)
 * [CARLA ScenarioRunner 0.9.11](#carla-scenariorunner-0911)
 * [CARLA ScenarioRunner 0.9.10](#carla-scenariorunner-0910)
@@ -12,13 +13,16 @@
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
 ## Latest changes
+
+
+## CARLA ScenarioRunner 0.9.13
 ### :rocket: New Features
 * OpenSCENARIO support:
     - Added support for `ParameterAction`
     - Extended `ParameterCondition` support to use as an event trigger condition
 
 ### :bug: Bug Fixes
-* Fixed metrics parsing
+* Fixed metrics parsing and remade the example recordings
 * Fixed a bug with repetitions / scenario groups causing the simulation to crash after the second one.
 * Fixed use of OSC Parameters as entry names for catalogs
 

README.md

@@ -21,6 +21,7 @@ branch contains the latest fixes and features, and may be required to use the la
 
 It is important to also consider the release version that has to match the CARLA version.
 
+* [Version 0.9.13](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.13) and the 0.9.13 Branch: Compatible with [CARLA 0.9.13](https://github.com/carla-simulator/carla/releases/tag/0.9.13)
 * [Version 0.9.12](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.12) and the 0.9.12 Branch: Compatible with [CARLA 0.9.12](https://github.com/carla-simulator/carla/releases/tag/0.9.12)
 * [Version 0.9.11](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.11) and the 0.9.11 Branch: Compatible with [CARLA 0.9.11](https://github.com/carla-simulator/carla/releases/tag/0.9.11)
 * [Version 0.9.10](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.10) and the 0.9.10 Branch: Compatible with [CARLA 0.9.10](https://github.com/carla-simulator/carla/releases/tag/0.9.10)

scenario_runner.py

@@ -41,7 +41,7 @@
 from srunner.tools.route_parser import RouteParser
 
 # Version of scenario_runner
-VERSION = '0.9.12'
+VERSION = '0.9.13'
 
 
 class ScenarioRunner(object):

srunner/metrics/data/CriteriaFilter_criteria.json

@@ -10,7 +10,7 @@
         "actual_value": 100,
         "optional": false,
         "_wsize": 2,
-        "_current_index": 759,
+        "_current_index": 754,
         "_route_length": 762,
         "_accum_meters": [
             0.0,
@@ -787,14 +787,14 @@
         "test_status": "FAILURE",
         "expected_value_success": 0,
         "expected_value_acceptable": null,
-        "actual_value": 5,
+        "actual_value": 11,
         "optional": false,
         "_collision_sensor": null,
         "other_actor": null,
         "other_actor_type": null,
         "registered_collisions": [],
-        "last_id": null,
-        "collision_time": 70.1000010445714,
+        "last_id": 437,
+        "collision_time": 97.15000144764781,
         "terminate_on_failure": false
     },
     "InRouteTest": {
@@ -811,7 +811,7 @@
         "_offroad_max": 30,
         "_offroad_min": 15.0,
         "_route_length": 762,
-        "_current_index": 760,
+        "_current_index": 754,
         "_out_route_distance": 0,
         "_in_safe_route": true,
         "_accum_meters": [
@@ -1588,15 +1588,15 @@
         "test_status": "FAILURE",
         "expected_value_success": 0,
         "expected_value_acceptable": null,
-        "actual_value": 35.22,
+        "actual_value": 20.91,
         "optional": false,
-        "_current_index": 760,
+        "_current_index": 754,
         "_route_length": 762,
-        "_outside_lane_active": true,
-        "_wrong_lane_active": true,
+        "_outside_lane_active": false,
+        "_wrong_lane_active": false,
         "_last_road_id": 15,
-        "_last_lane_id": -1,
-        "_total_distance": 759.2815870046616,
+        "_last_lane_id": 1,
+        "_total_distance": 753.2815870046616,
         "_wrong_distance": 0,
         "terminate_on_failure": false
     },
@@ -1608,9 +1608,9 @@
         "test_status": "FAILURE",
         "expected_value_success": 0,
         "expected_value_acceptable": null,
-        "actual_value": 3,
+        "actual_value": 1,
         "optional": false,
-        "_last_red_light_id": 288,
+        "_last_red_light_id": 211,
         "debug": false,
         "terminate_on_failure": false
     },
@@ -1644,7 +1644,7 @@
         "list_traffic_events": [],
         "_speed_threshold": 0.1,
         "_below_threshold_max_time": 90.0,
-        "_time_last_valid_state": 70.80000105500221,
+        "_time_last_valid_state": 101.05000150576234,
         "terminate_on_failure": false
     }
 }

srunner/metrics/tools/metrics_parser.py

@@ -128,18 +128,27 @@ def parse_scene_lights(info):
     return scene_light
 
 def parse_bounding_box(info):
-    """Parses a list into a carla.BoundingBox"""
-    location = carla.Location(
-        x=float(info[3][1:-1])/100,
-        y=float(info[4][:-1])/100,
-        z=float(info[5][:-1])/100,
-    )
+    """
+    Parses a list into a carla.BoundingBox.
+    Some actors like sensors might have 'nan' location and 'inf' extent, so filter those.
+    """
+    if 'nan' in info[3]:
+        location = carla.Location()
+    else:
+        location = carla.Location(
+            float(info[3][1:-1])/100,
+            float(info[4][:-1])/100,
+            float(info[5][:-1])/100,
+        )
 
-    extent = carla.Vector3D(
-        x=float(info[7][1:-1])/100,
-        y=float(info[8][:-1])/100,
-        z=float(info[9][:-1])/100,
-    )
+    if 'inf' in info[7]:
+        extent = carla.Vector3D()
+    else:
+        extent = carla.Vector3D(
+            float(info[7][1:-1])/100,
+            float(info[8][:-1])/100,
+            float(info[9][:-1])/100,
+        )
 
     bbox = carla.BoundingBox(location, extent)