Traffic Light

Description

A traffic light is considered an “actor” in Quanser Interactive Labs Open Worlds. Traffic lights can be spawned anywhere in the Open Worlds.

See the Road Signage Tutorial to get a better understanding of using road signage in Quanser Interactive Labs.

Library

class qvl.traffic_light.QLabsTrafficLight(qlabs, verbose=False)[source]

Constants

QLabsTrafficLight.ID_TRAFFIC_LIGHT = 10051

Class ID

QLabsTrafficLight.STATE_RED = 0

State constant for red light

QLabsTrafficLight.STATE_GREEN = 1

State constant for green light

QLabsTrafficLight.STATE_YELLOW = 2

State constant for yellow light

Member Variables

QLabsTrafficLight.actorNumber = None

The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsTrafficLight.__init__(qlabs, verbose=False)[source]

Constructor Method

Parameters

  • qlabs (object) – A QuanserInteractiveLabs object

  • verbose (boolean) – (Optional) Print error information to the console.

QLabsTrafficLight.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsTrafficLight.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsTrafficLight.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.set_state(state, waitForConfirmation=True)[source]

Set the light state (red/yellow/green) of a traffic light actor

Parameters

  • state (uint32) – An integer constant corresponding to a light state (see class constants)

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the state change before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise

Return type

boolean

QLabsTrafficLight.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsTrafficLight.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsTrafficLight.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsTrafficLight.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsTrafficLight.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsTrafficLight.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – (Optional) User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsTrafficLight.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

Configurations

There are three configurations (0-2) for the traffic light actor class generated in QLabs.

../_images/configuration_trafficlight.png

Connection Points

There are no connection points for this actor class.

Road Signage Tutorial

Example

Raw to download this tutorial: Road Signage Tutorial.

  1"""
  2Road Signage Library Example
  3----------------------------
  4
  5.. note::
  6
  7    Make sure you have Quanser Interactive Labs open before running this
  8    example.  This example is designed to best be run in QCar Cityscape 
  9    or Cityscape Lite.
 10
 11"""
 12
 13# imports to important libraries
 14import sys
 15import math
 16import time
 17
 18from qvl.qlabs import QuanserInteractiveLabs
 19from qvl.free_camera import QLabsFreeCamera
 20from qvl.crosswalk import QLabsCrosswalk
 21from qvl.roundabout_sign import QLabsRoundaboutSign
 22from qvl.yield_sign import QLabsYieldSign
 23from qvl.stop_sign import QLabsStopSign
 24from qvl.traffic_cone import QLabsTrafficCone
 25from qvl.traffic_light import QLabsTrafficLight
 26
 27# set any of these flags to False if you don't want to see the output
 28CROSSWALK_FLAG = True
 29ROUNDABOUT_FLAG = True
 30YIELDSIGN_FLAG = True
 31STOPSIGN_FLAG = True
 32TRAFFICCONE_FLAG = True
 33TRAFFICLIGHT_FLAG = True
 34
 35def crosswalk(qlabs):
 36    """This method demonstrates some basic commands with the crosswalk class"""
 37
 38    # initialize a camera - See Camera Actor Library Reference for more information
 39    cameraCrosswalk = QLabsFreeCamera(qlabs)
 40    cameraCrosswalk.spawn(location=[-19.286, 43, 5.5], rotation=[-0, 0.239, -0.043])
 41    cameraCrosswalk.possess()
 42
 43    # create a crosswalk in this qlabs instance
 44    crosswalk = QLabsCrosswalk(qlabs)
 45
 46    # spawn crosswalk with radians in config
 47    crosswalk.spawn_id(actorNumber=0, location=[-10.788, 45, 0.00], rotation=[0,0,math.pi/2], scale=[1,1,1], configuration=0, waitForConfirmation=True)
 48    # waits so we can see the output
 49    time.sleep(1)
 50    # spawn crosswalk with degrees in config 1
 51    crosswalk.spawn_id_degrees(actorNumber=1, location=[-6.788, 45, 0.00], rotation=[0,0,90], scale=[1,1,1], configuration=1, waitForConfirmation=True)
 52    # waits so we can see the output
 53    time.sleep(1)
 54    # spawn crosswalk with degress in config 2
 55    crosswalk.spawn_id_degrees(actorNumber=2, location=[-2.8, 45, 0.0], rotation=[0,0,90], scale=[1,1,1], configuration=2, waitForConfirmation=True)
 56
 57    # collecting the world transform coordinates of the crosswalk
 58    x, loc, rot, scale = crosswalk.get_world_transform()
 59    print( x, loc, rot, scale)
 60
 61    # pinging existing sign - this should return True if we printed it
 62    crosswalk.ping()
 63
 64
 65
 66def roundabout_sign(qlabs):
 67    """This method demonstrates some basic commands with the roundabout sign class"""
 68
 69    # create two roundabouts in this qlabs instance
 70    roundabout = QLabsRoundaboutSign(qlabs)
 71    roundabout2 = QLabsRoundaboutSign(qlabs)
 72
 73    # spawns the sign we just created using radians and specifying the actorNumber
 74    roundabout.spawn_id(actorNumber=0, location=[-17, 29, 0.0], rotation=[0, 0, math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
 75    # spawns the second sign we just created using degrees and allowing the computer to
 76    # generate an actorNumber internally
 77    roundabout2.spawn_id_degrees(actorNumber=2, location=[-15, 29, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)
 78
 79    # collecting the world transform coordinates of the roundabout sign
 80    x, loc, rot, scale = roundabout2.get_world_transform()
 81    print( x, loc, rot, scale)
 82
 83    # pinging existing sign - this should return True if we printed it
 84    roundabout2.ping()
 85    # waits so we can see the output
 86    time.sleep(1)
 87
 88    # destroying the sign we just created
 89    roundabout.destroy()
 90
 91
 92def yield_sign(qlabs):
 93    """This method demonstrates some basic commands with the yield sign class"""
 94
 95    # create two yieldsigns in this qlabs instance
 96    yieldsign = QLabsYieldSign(qlabs)
 97    yieldsign2 = QLabsYieldSign(qlabs)
 98
 99    # spawns the sign we just created using radians and specifying the actorNumber
100    yieldsign.spawn_id(actorNumber=0, location=[-17, 31, 0.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
101    # spawns the second sign we just created using degrees and allowing the computer to
102    # generate an actorNumber internally
103    yieldsign2.spawn_degrees(location=[-15, 31, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)
104
105    # collecting the world transform coordinates of the yield sign
106    x, loc, rot, scale = yieldsign2.get_world_transform()
107    print( x, loc, rot, scale)
108
109    # pinging existing sign - this should return "True" if we printed it
110    yieldsign2.ping()
111    # waits so we can see the output
112    time.sleep(1)
113
114    # destroying the sign we just created
115    yieldsign.destroy()
116
117
118def stop_sign(qlabs):
119    """This method demonstrates some basic commands with the stop sign class"""
120
121    # create two stop signs in this qlabs instance
122    stop = QLabsStopSign(qlabs)
123    stop2 = QLabsStopSign(qlabs)
124    # spawns the sign we just created using radians
125    stop.spawn_id(actorNumber=1, location=[-16, 30, 0.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
126    # spawns the second sign we just created using degrees and generating the actorNumber internally
127    stop2.spawn_degrees(location=[-15, 30, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)
128
129    # collecting the world transform coordinates of the stop sign
130    x, loc, rot, scale = stop2.get_world_transform()
131    print(x, loc, rot, scale)
132
133    # pinging existing sign - this should return True if we printed it
134    stop2.ping()
135    # waits so we can see the output
136    time.sleep(1)
137
138    # destroying the sign we just created
139    stop.destroy()
140
141
142def traffic_cone(qlabs):
143    """This method demonstrates some basic commands with the traffic cone class"""
144
145    # creates 3 cones in this qlabs instance
146    cone = QLabsTrafficCone(qlabs)
147    cone1 = QLabsTrafficCone(qlabs)
148    cone2 = QLabsTrafficCone(qlabs)
149    cone3 = QLabsTrafficCone(qlabs)
150    cone4 = QLabsTrafficCone(qlabs)
151    
152    # spawns a small traffic cone we just initialized using radians
153    cone.spawn(location=[-17, 28, 1.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
154    # waits so we can see the output
155    time.sleep (1)
156    # destroy the cone we just made
157    cone.destroy()
158    # waits so we can see the output
159    time.sleep(1)
160    # spawns another small traffic cone we just initialized using radians in the same place
161    cone1.spawn_id(actorNumber=1, location=[-17, 28, 1.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
162    # spawns a construction pylon using the cone we just initialized using degrees and generating
163    # the actorNumber internally
164    cone2.spawn_degrees(location=[-15, 28, 1.0], rotation=[0,0,180], scale=[1,1,1], configuration=1, waitForConfirmation=True)
165    # spawns a small cone with one color stripe initialized using actor number and a position in degrees
166    cone3.spawn_id_degrees(actorNumber=3, location=[-15, 26.5, 1.0], rotation=[0,0,90], scale=[1,1,1], configuration=2, waitForConfirmation=True)
167    # spawns a bigger cone with two color stripes using radians and generating the actorNumber internally
168    cone4.spawn(location=[-17, 26.5, 1.0], rotation=[0,0,math.pi/4], scale=[1,1,1], configuration=3, waitForConfirmation=True)
169    
170    # waits so we can see the output
171    time.sleep(1.5)
172        
173    # change the color of the cones (materialSlot 0 is the base color, and 1 is the stripes)
174    cone1.set_material_properties(materialSlot=0, color=[0,0,1],metallic=True)
175    # waits so we can see the output
176    time.sleep(.5)
177
178    cone2.set_material_properties(materialSlot=0, color=[1,0,0],roughness=1,metallic=False)
179    cone2.set_material_properties(materialSlot=1, color=[1,.5,0])
180    time.sleep(.5)
181
182    cone3.set_material_properties(materialSlot=0, color=[0,1,1])
183    cone3.set_material_properties(materialSlot=1, color=[0,.3,1],roughness=1,metallic=True)
184    time.sleep(.5)
185
186    cone4.set_material_properties(materialSlot=0, color=[1,0,1],roughness=0,metallic=False)
187    cone4.set_material_properties(materialSlot=1, color=[.3,0,1])
188
189    # waits so we can see the output
190    time.sleep(3)
191
192    # collecting the world transform coordinates of the traffic cone
193    x, loc, rot, scale = cone2.get_world_transform()
194    print(x, loc, rot, scale)
195
196    # pinging existing cone - this should return True if we printed it
197    cone2.ping()
198
199
200def traffic_light(qlabs):
201    """This method demonstrates some basic commands with the traffic light class"""
202
203    # initialize a camera - See Camera Actor Library Reference for more information
204    cameraTraffic = QLabsFreeCamera(qlabs)
205    cameraTraffic.spawn(location=[0.131, 2.05, 2.047], rotation=[-0, -0.068, 1.201])
206    cameraTraffic.possess()
207
208    # initialize three traffic light instances in qlabs
209    trafficLight = QLabsTrafficLight(qlabs)
210    trafficLight2 = QLabsTrafficLight(qlabs)
211    trafficLight3 = QLabsTrafficLight(qlabs)
212
213    # spawn a traffic light in config 1 - vertical using radians and specifying a specific actorNumber
214    trafficLight.spawn_id(actorNumber=0, location=[5.616, 14.131, 0.215], rotation=[0,0,0], scale=[1,1,1], configuration=0, waitForConfirmation=True)
215    # spawn a second traffic light using degrees in config 1 - vertical and specifying a specific actorNumber
216    trafficLight2.spawn_id_degrees(actorNumber=2, location=[-3.078, 14.136, 0.215], rotation=[0,0,180], scale=[1,1,1], configuration=1, waitForConfirmation=True)
217    # spawn traffic light using degrees in config 2 - horizontal and generating the actorNumber internally
218    trafficLight3.spawn_degrees(location=[6.703, 5.6, 0.215], rotation=[0,0,-90], scale=[1,1,1], configuration=2, waitForConfirmation=True)
219
220    # collecting the world transform coordinates of the traffic light
221    x, loc, rot, scale = trafficLight2.get_world_transform()
222    print(x, loc, rot, scale)
223
224    # pinging existing traffic light - this should return True if we printed it
225    trafficLight2.ping()
226
227    # changing the state of the traffic lights from green to red
228    
229    time.sleep(2)
230
231    trafficLight.set_state(state=trafficLight.STATE_YELLOW, waitForConfirmation=True)
232    trafficLight2.set_state(state=trafficLight2.STATE_YELLOW, waitForConfirmation=True)
233
234    time.sleep(1)
235
236    trafficLight.set_state(state=trafficLight.STATE_RED, waitForConfirmation=True)
237    trafficLight2.set_state(state=trafficLight2.STATE_RED, waitForConfirmation=True)
238
239    time.sleep(1)
240
241    trafficLight3.set_state(state=trafficLight3.STATE_GREEN, waitForConfirmation=True)
242
243    # destroying a traffic light
244    trafficLight.destroy()
245
246
247def main():
248
249    # creates a server connection with Quanser Interactive Labs and manages the communications
250    qlabs = QuanserInteractiveLabs()
251
252    print("Connecting to QLabs...")
253    # trying to connect to QLabs and open the instance we have created - program will end if this fails
254    try:
255        qlabs.open("localhost")
256    except:
257        print("Unable to connect to QLabs")
258        return
259
260    # destroying any spawned actors in our QLabs that currently exist
261    qlabs.destroy_all_spawned_actors()
262
263    if CROSSWALK_FLAG == True:
264        crosswalk(qlabs)
265        time.sleep(2)
266
267    # switch the camera angle from whatever it was previous to be able to see where we will be
268    # spawning the rest of the objects - see Camera Actor Library Reference for more information
269    if ROUNDABOUT_FLAG or YIELDSIGN_FLAG or STOPSIGN_FLAG or TRAFFICCONE_FLAG:
270        camera0 = QLabsFreeCamera(qlabs)
271        camera0.spawn(location=[-20.14, 29.472, 2.071], rotation=[0, 0.203, -0.024])
272        camera0.possess()
273
274        if ROUNDABOUT_FLAG:
275            roundabout_sign(qlabs)
276            time.sleep(1)
277
278        if YIELDSIGN_FLAG:
279            yield_sign(qlabs)
280            time.sleep(1)
281
282        if STOPSIGN_FLAG:
283            stop_sign(qlabs)
284            time.sleep(1)
285
286        if TRAFFICCONE_FLAG:
287            traffic_cone(qlabs)
288            time.sleep(1)
289
290    if TRAFFICLIGHT_FLAG:
291        traffic_light(qlabs)
292
293
294if __name__ == "__main__":
295    main()
296
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304