# Installing the OOD-PerceptionBench asset pack v0.9 **Target:** an official **CARLA 0.9.15** Linux build (the packaged release, the one with `CarlaUE4.sh` and `ImportAssets.sh` at its root). Not the source tree, not any other version. > **This pack overwrites one file in CARLA's base content** > (`CarlaUE4/Content/Carla/Blueprints/Walkers/WalkerFactory.{uasset,uexp}`). That is > unavoidable — see `WALKERFACTORY_DECISION.md`. It hard-locks the pack to 0.9.15 and it > is why you should install into a **copy** of CARLA reserved for this benchmark rather > than a shared one. --- ## 1. What you get | Tarball | Contents | Licence | Download | |---|---|---|---| | `ood-perceptionbench-props-v0.9.tar.gz` | `static.prop.concreteroadbarrier`, `static.prop.roadclosedbarricade` | CC BY 4.0 | 15.8 MB | | `ood-perceptionbench-walkers-ccby-v0.9.tar.gz` | `walker.pedestrian.astronaut`, `.deliveryrobot`, `.boar` **+ `WalkerFactory`** | CC BY 4.0 | 38.4 MB | | `ood-perceptionbench-walkers-ccbync-v0.9.tar.gz` | `walker.pedestrian.firefighter` | **CC BY-NC 4.0** | 112.3 MB | **166.6 MB to download, 185.5 MB on disk, 195 files.** The props tarball touches nothing outside its own content directories and is safe to install anywhere. The two walker tarballs are useless without `WalkerFactory`, which is in the `walkers-ccby` tarball: **if you want the firefighter you must also install `walkers-ccby`**, even if you do not want the other three walkers. If your use is commercial, skip `walkers-ccbync` (see `ATTRIBUTION.md`). --- ## 2. Install ```bash cd /path/to/CARLA_0.9.15 # the directory containing CarlaUE4.sh # 1. verify what you downloaded sha256sum -c SHA256SUMS # 2. drop the tarballs in Import/ (omit the ccbync one for commercial use) mkdir -p Import cp ood-perceptionbench-*-v0.9.tar.gz Import/ # 3. unpack them into the build ./ImportAssets.sh ``` `ImportAssets.sh` is CARLA's own script. It runs `find Import/ -type f -name "*.tar.gz"` and extracts each one from the CARLA root, so the tarballs are rooted at `CarlaUE4/` and land in the right place with no `--strip-components` or path juggling. You can equivalently do it by hand: ```bash tar --keep-newer-files -xvf Import/ood-perceptionbench-props-v0.9.tar.gz ``` ### The `--keep-newer-files` trap `ImportAssets.sh` passes `--keep-newer-files`, which makes tar **silently skip** any member whose modification time is *older* than the file already on disk. Members in this pack are dated 2026; stock CARLA 0.9.15 content is dated 2023-11-10, so extraction proceeds normally. But if you have previously copied files into `Content/Carla/Blueprints/Walkers/` by hand and given them a current timestamp, `WalkerFactory` will not be replaced, no error will be printed, and none of the four walkers will register. **Step 3 below catches this.** Tested: installing over a stand-in "stock" `WalkerFactory` dated 2023-11-10 replaces it correctly (post-install sha256 matches the pack's). --- ## 3. Verify — do not skip this A missing CARLA asset does not raise. If a blueprint ID is absent, the benchmark harness substitutes a *different* actor (`vehicle.tesla.model3` for a pedestrian) with a single stdout warning, and the route completes with a plausible Driving Score. Nothing in the result JSON records that the wrong thing was measured. A five-minute check now is the difference between a number and a meaningless number. ```bash # terminal 1 ./CarlaUE4.sh -carla-server -RenderOffScreen -carla-rpc-port=2000 # terminal 2 — needs the `carla` python module from this build's PythonAPI python3 tools/verify_pack.py --port 2000 # add --without-nc if you skipped the NC tarball ``` Expected tail: ``` VERIFY OK — all six shipped assets registered, spawned and matched reference dimensions; no phantom ID is spawnable. ``` Exit code 0 means installed correctly. Anything else: stop, fix, re-verify. The verifier checks that each of the six IDs **spawns**, not merely that it is registered. That distinction matters: the four walkers are registered by `WalkerFactory`, and a `WalkerFactory` entry with no content behind it still appears in the blueprint library. --- ## 4. Phantom blueprint IDs — expected, harmless, unusable After installing, `world.get_blueprint_library()` will advertise **nine walker IDs whose content is not in this pack**: ``` walker.pedestrian.soldier walker.pedestrian.wheelchair walker.pedestrian.ball walker.pedestrian.caneman walker.pedestrian.cow walker.pedestrian.crutcheswoman walker.pedestrian.deer walker.pedestrian.labrador walker.pedestrian.tire ``` They are artefacts of shipping a `WalkerFactory` cooked from a build with more assets than this pack contains. All nine are **unspawnable**: `try_spawn_actor` returns `None`, `spawn_actor` raises `RuntimeError: Spawn failed because of invalid actor description`. They cannot silently give you a wrong prop. Do not use them. `verify_pack.py` asserts that none of them spawns. `soldier` and `wheelchair` are real benchmark props whose source models are not redistributable; the other seven belong to unrelated experiments and appear in no benchmark route. --- ## 5. What you can run with this pack **237 of the benchmark's 475 routes.** | Category | Runnable | Total | What is missing | |---|---|---|---| | static | **30** | 70 | 40 routes need 4 non-redistributable props | | pedestrian | **126** | 162 | 36 routes need `soldier` / `wheelchair` | | vehicle | **81** | 243 | 162 routes need 6 non-redistributable vehicles | The 145 `base`-level routes need no pack at all — they use native CARLA blueprints (`walker.pedestrian.0001/0014/0028`, `static.prop.trafficwarning`, `vehicle.*.cooper_s_2021/coupe_2020/mkz_2020`). The pack adds the 92 shift-level routes covered by its six assets: 18 each for astronaut, firefighter, boar and deliveryrobot; 10 each for concreteroadbarrier and roadclosedbarricade. The remaining 238 routes are **not runnable at v0.9** and running them anyway will produce substituted-actor results that look normal and are not comparable to anything. Replacement assets and a re-run are the v1.0 scope. --- ## 6. Uninstall Delete the six content directories, then restore `WalkerFactory` from a pristine CARLA 0.9.15 (there is no copy of the original in this pack — take one before you install if you care): ```bash rm -rf CarlaUE4/Content/{Astronaut,Firefighter,DeliveryRobot,Boar,ConcreteRoadBarrier,RoadClosedBarricade} cp /pristine/CARLA_0.9.15/CarlaUE4/Content/Carla/Blueprints/Walkers/WalkerFactory.* \ CarlaUE4/Content/Carla/Blueprints/Walkers/ ``` --- ## 7. Rebuilding the pack from a CARLA build For provenance. `build/build_asset_pack.sh` reads a CARLA build read-only and reproduces the three tarballs and both manifests: ```bash build/build_asset_pack.sh --carla-root /path/to/carla --out /path/to/assets ``` Exclusions applied during the build (each verified unreferenced) are listed with reasons in `build/EXCLUSIONS.tsv`.