# Cityscape Lite

Cityscape Lite is a simplified environment for developing and deploying large scale applications of self-driving.

## Cityscape Lite World Size

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

## Coordinates of Interest

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

Note

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

Location/ Rotation |
X |
Y |
Z |
Roll |
Pitch |
Yaw |
Roll (deg) |
Pitch (deg) |
Yaw (deg) |
---|---|---|---|---|---|---|---|---|---|

Open World Origin |
0 |
0 |
0 |
0 |
0 |
0 |
0 |
0 |
0 |

Car Spawn Spot |
0 |
-1.300 |
0.005 |
0 |
0 |
pi/2 |
0 |
0 |
90 |

Road Parking 1 |
-13.093 |
-7.572 |
0.005 |
0 |
0 |
-42*pi/ 180 |
0 |
0 |
-42 |

Road Parking 2 |
-18.078 |
-2.879 |
0.005 |
0 |
0 |
-42*pi/ 180 |
0 |
0 |
-42 |

Parking Spot 1 |
-5.987 |
14.643 |
0.005 |
0 |
0 |
pi/2 |
0 |
0 |
90 |

Parking Spot 2 |
-8.700 |
14.643 |
0.005 |
0 |
0 |
pi/2 |
0 |
0 |
90 |

Parking Spot 3 |
-11.048 |
14.643 |
0.005 |
0 |
0 |
pi/2 |
0 |
0 |
90 |

Parking Spot 4 |
3.978 |
33.322 |
0.005 |
0 |
0 |
133*pi/ 180 |
0 |
0 |
133 |

Parking Spot 5 |
2.007 |
31.476 |
0.005 |
0 |
0 |
133*pi/ 180 |
0 |
0 |
133 |

Parking Spot 6 |
0.04 |
29.733 |
0.005 |
0 |
0 |
133*pi/ 180 |
0 |
0 |
133 |