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.

Cityscape Lite 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 450m x 450m (225m in each direction from the origin). The entire area is traversable other than the locations of the buildings.

Note

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

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	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