Cityscape

Cityscape is a rich and dynamic city environment for developing and deploying large-scale applications of self-driving.

Cityscape World Size

The world is approximately 500m x 500m (250m in each direction from the origin) with the ground located at 0m elevation.

Cityscape Navigation Area

The navigation area is the area in which actors supporting path-finding travel can traverse. In other words an actor can freely walk around in this area unobstructed by barriers that are part of the Open World.

The outer boundary of the navigation area is 400m x 400m (200m in each direction from the origin). Buildings, trees, fences, and other obstacles create breaks in the navigation area.

Note

The navigation area only applies to traversable actors such as people, animals, etc.

Common Location Coordinates

The following table will provide you with some coordinates of interest in the cityscape.

Note

The z coordinate should be modified depending on the location of the actor origin.

Location/ Rotation	X	Y	Z	Yaw	Yaw (deg)
Open World Origin	0	0	0	0	0
Car Spawn Spot	0	-1.300	0.005	pi/2	90
Road Parking 1	-13.093	-7.572	0.005	-42*pi/ 180	-42
Road Parking 2	-18.078	-2.879	0.005	-42*pi/ 180	-42
Parking Spot 1	-5.987	14.643	0.005	pi/2	90
Parking Spot 2	-8.700	14.643	0.005	pi/2	90
Parking Spot 3	-11.048	14.643	0.005	pi/2	90
Parking Spot 4	3.978	33.322	0.005	133*pi/ 180	133
Parking Spot 5	2.007	31.476	0.005	133*pi/ 180	133
Parking Spot 6	0.04	29.733	0.005	133*pi/ 180	133