carla-simulator · germanros1987 · Aug 8, 2025 · Aug 8, 2025 · Aug 8, 2025
@@ -48,6 +48,7 @@
  * Added API function `world.set_annotations_traverse_translucency` and implemented functionality to configure, whether depth and semantic + instance segmentation traverse translucent materials or not.
  * Fixed `frame`, `timestamp` and `transform` of `SensorData` not matching to the actually sent image for camera sensors.
  * Added  "geolocation_to_transform" function to the Map object in the PythonAPI
+ * Add support for NVIDIA NuRec 25.07 (CARLA-NuRec 0.2)
 
 ## CARLA 0.9.15
 

@@ -7,7 +7,7 @@ command_exists() {
 
 
 
-# Function to check if Hugging Face dataset exists
+# Function to check if HuggingFace dataset exists
 check_hf_dataset() {
     local dataset_path="PhysicalAI-Autonomous-Vehicles-NuRec"
     if [ -d "$dataset_path" ]; then
@@ -25,25 +25,58 @@ check_NuRec_container() {
     return 1
 }
 
-# Function to validate Hugging Face PAT format (basic check)
+# Function to validate HuggingFace PAT format (basic check)
 validate_hf_pat() {
     if [[ ! $1 =~ ^hf_[a-zA-Z0-9]{32,}$ ]]; then
-        echo "Error: Invalid Hugging Face PAT format" >&2
+        echo "Error: Invalid HuggingFace PAT format" >&2
         return 1
     fi
     return 0
 }
 
-# Function to get and validate Hugging Face PAT
+# Function to get and validate HuggingFace PAT
 get_hf_pat() {
-    # Get Hugging Face PAT
-    read -s -p "Please enter your Hugging Face Personal Access Token. If you don't have one, visit: https://huggingface.co/settings/tokens. Enter your token: " hf_pat
-    echo  
+    # Color codes
+    local RED='\033[0;31m'
+    local GREEN='\033[0;32m'
+    local YELLOW='\033[1;33m'
+    local BLUE='\033[0;34m'
+    local PURPLE='\033[0;35m'
+    local CYAN='\033[0;36m'
+    local WHITE='\033[1;37m'
+    local NC='\033[0m' # No Color
+
+    echo "" >&2
+    echo -e "${CYAN}============================================================${NC}" >&2
+    echo -e "${WHITE}              🔑 ${YELLOW}HUGGINGFACE AUTHENTICATION REQUIRED${WHITE} 🔑${NC}" >&2
+    echo -e "${CYAN}============================================================${NC}" >&2
+    echo "" >&2
+    echo -e "${WHITE}To download the dataset, you need a ${YELLOW}HuggingFace Personal Access Token${WHITE}.${NC}" >&2
+    echo "" >&2
+    echo -e "${BLUE}📍 If you don't have a token yet:${NC}" >&2
+    echo -e "${WHITE}   1. Visit: ${CYAN}https://huggingface.co/settings/tokens${NC}" >&2
+    echo -e "${WHITE}   2. Click ${YELLOW}'New token'${NC}" >&2
+    echo -e "${WHITE}   3. Choose ${GREEN}'Read'${WHITE} permissions${NC}" >&2
+    echo -e "${WHITE}   4. Copy the generated token${NC}" >&2
+    echo "" >&2
+    echo -e "${YELLOW}⚠️  Your input will be hidden for security${NC}" >&2
+    echo "" >&2
+
+    # Get HuggingFace PAT
+    echo -ne "${PURPLE}🔐 Enter your HuggingFace Personal Access Token: ${NC}" >&2
+    read -s hf_pat
+    echo >&2
+    echo "" >&2
 
-    # Validate Hugging Face PAT
+    # Validate HuggingFace PAT
     if ! validate_hf_pat "$hf_pat"; then
+        echo -e "${RED}❌ Invalid token format. Please try again.${NC}" >&2
+        echo "" >&2
         return 1
     fi
+
+    echo -e "${GREEN}✅ Token validated successfully!${NC}" >&2
+    echo "" >&2
     echo "$hf_pat"
     return 0
 }
@@ -135,23 +168,29 @@ done
 
 # Download NuRec GRPC Container
 echo "Checking NuRec GRPC container..."
-if check_NuRec_container "docker.io/carlasimulator/nvidia-nurec-grpc:0.1.0"; then
+if check_NuRec_container "docker.io/carlasimulator/nvidia-nurec-grpc:0.2.0"; then
     echo "NuRec GRPC container already exists, skipping download."
 else
     echo "Initiating NuRec GRPC Container Downloads..."
-    docker pull docker.io/carlasimulator/nvidia-nurec-grpc:0.1.0
+    docker pull docker.io/carlasimulator/nvidia-nurec-grpc:0.2.0
     if [ $? -ne 0 ]; then
         echo "Error: Failed to download NuRec GRPC Container"
         exit 1
     fi
 fi
 
-# Download the dataset from Hugging Face
-echo "Checking Hugging Face dataset..."
+# Download the dataset from HuggingFace
+echo "Checking HuggingFace dataset..."
 if check_hf_dataset; then
-    echo "Hugging Face dataset already exists, skipping download."
+    echo "HuggingFace dataset already exists, skipping download."
 else
-    # Get and validate Hugging Face PAT
+    echo "Installing HuggingFace CLI..."
+    pip3 install --upgrade huggingface_hub || {
+        echo "Error: Failed to install HuggingFace CLI"
+        exit 1
+    }
+
+    # Get and validate HuggingFace PAT
     hf_pat=$(get_hf_pat)
     if [ $? -ne 0 ]; then
         exit 1
@@ -160,30 +199,24 @@ else
     # Strip any newlines or whitespace from the token
     hf_pat=$(echo "$hf_pat" | tr -d '\n\r' | xargs)
 
-    # Create the Hugging Face URL with embedded token
-    hf_url="https://user:${hf_pat}@huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles-NuRec/"
-
-    echo "Downloading the dataset from Hugging Face..."
-    git lfs install
-
-    # Set git configuration to avoid prompts
-    export GIT_TERMINAL_PROMPT=0  # Disable git prompts
-
-    # Clone the repository using the URL with embedded token
-    echo "Cloning dataset with authentication..."
-    git clone "$hf_url"
+    echo "Downloading the dataset from HuggingFace using CLI..."
 
-    clone_result=$?
-    unset GIT_TERMINAL_PROMPT
+    # Login to HuggingFace using the token
+    echo "$hf_pat" | hf auth login --token "$hf_pat" || {
+        echo "Error: Failed to authenticate with HuggingFace"
+        exit 1
+    }
 
-    if [ $clone_result -ne 0 ]; then
-        echo "Error: Failed to download the NuRec dataset from Hugging Face"
+    # Download the dataset using HuggingFace CLI
+    echo "Downloading dataset with HuggingFace CLI..."
+    hf download nvidia/PhysicalAI-Autonomous-Vehicles-NuRec --repo-type dataset --local-dir PhysicalAI-Autonomous-Vehicles-NuRec || {
+        echo "Error: Failed to download the NuRec dataset from HuggingFace"
         exit 1
-    fi
+    }
 fi
 
 # Set the NuRec image path
-NUREC_IMAGE="docker.io/carlasimulator/nvidia-nurec-grpc:0.1.0"
+NUREC_IMAGE="docker.io/carlasimulator/nvidia-nurec-grpc:0.2.0"
 export NUREC_IMAGE
 echo "NUREC_IMAGE: $NUREC_IMAGE"
 
@@ -228,7 +261,7 @@ pip3 install pygame numpy nvidia-nvjpeg-cu12 imageio|| {
 # Install Carla Wheel
 echo "Installing Carla Wheel..."
 
-WHEEL=$(ls ../../carla/dist/carla-0.9.16-cp310-cp310-*.whl | head -n 1)
+WHEEL=$(ls ../../../carla/dist/carla-0.9.16-cp310-cp310-*.whl | head -n 1)
 python -m pip install ${WHEEL} || {
     echo "Error: Failed to install Carla Wheel"
     exit 1
@@ -243,12 +276,12 @@ pip3 install -r requirements.txt || {
 
 # Install and setup GRPC Protos
 echo "Setting up GRPC Protos..."
-pip3 install -r grpc_proto/requirements.txt || {
+pip3 install -r nre/grpc/requirements.txt || {
     echo "Error: Failed to install GRPC requirements"
     exit 1
 }
 
-python3 grpc_proto/update_generated.py || {
+python3 nre/grpc/update_generated.py || {
     echo "Error: Failed to update generated GRPC files"
     exit 1
 }
@@ -257,3 +290,21 @@ python3 grpc_proto/update_generated.py || {
 chmod +x "$0"
 
 echo "Setup completed successfully!"
+echo ""
+echo "🔔 IMPORTANT: Environment Variable Notice"
+echo "=============================================="
+echo "The NUREC_IMAGE environment variable has been added to your ~/.bashrc file"
+echo "and will be available in new terminal sessions."
+echo ""
+echo "To use it in your CURRENT terminal session, run one of these commands:"
+echo ""
+echo "  Option 1 (Reload bashrc):"
+echo "    source ~/.bashrc"
+echo ""
+echo "  Option 2 (Export manually for this session):"
+echo "    export NUREC_IMAGE=\"$NUREC_IMAGE\""
+echo ""
+echo "  Option 3 (Start a new terminal session)"
+echo ""
+echo "You can verify the variable is set by running:"
+echo "    echo \$NUREC_IMAGE"
@@ -38,9 +38,9 @@ After generating the Python files, you can import and use them in your Python co
 
 ```python
 # Import the generated modules
-import grpc_proto.common_pb2 as common_pb2
-import grpc_proto.sensorsim_pb2 as sensorsim_pb2
-import grpc_proto.sensorsim_pb2_grpc as sensorsim_pb2_grpc
+import nre.grpc.protos.common_pb2 as common_pb2
+import nre.grpc.protos.sensorsim_pb2 as sensorsim_pb2
+import nre.grpc.protos.sensorsim_pb2_grpc as sensorsim_pb2_grpc
 
 # Create a gRPC channel and stub
 import grpc
@@ -73,7 +73,7 @@ The NuRec gRPC API provides the following main services:
 When modifying the .proto files, always regenerate the Python code:
 
 ```bash
-python PythonAPI/examples/nvidia/grpc/update_generated.py
+python PythonAPI/examples/nvidia/nre/grpc/update_generated.py
 ```
 
 ## Support

@@ -1,10 +1,7 @@
-// SPDX-FileCopyrightText: © 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-//
-// SPDX-License-Identifier: MIT
-
+// Copyright (c) 2025 NVIDIA CORPORATION.  All rights reserved.
 syntax = "proto3";
 
-package common;
+package nre.grpc.protos.common;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Common types
@@ -78,4 +75,3 @@ message SessionRequestStatus {} // empty; reserved name in case we want to exten
 message AvailableScenesReturn {
     repeated string scene_ids = 1;
 }
-
@@ -1,12 +1,9 @@
-// SPDX-FileCopyrightText: © 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-//
-// SPDX-License-Identifier: MIT
-
+// Copyright (c) 2025 NVIDIA CORPORATION.  All rights reserved.
 syntax = "proto3";
 
-package sensorsim;
+package nre.grpc.protos.sensorsim;
 
-import "common.proto";
+import "nre/grpc/protos/common.proto";
 
 ////////////////////////////////////////////////////////////////////////////////
 // Sensor simulator <-> Runtime
@@ -15,12 +12,12 @@ import "common.proto";
 service SensorsimService {
     rpc render_rgb (RGBRenderRequest) returns (RGBRenderReturn);
     rpc render_lidar (LidarRenderRequest) returns (LidarRenderReturn);
-    rpc get_version (common.Empty) returns (common.VersionId);
-    rpc get_available_scenes (common.Empty) returns (common.AvailableScenesReturn);
+    rpc get_version (nre.grpc.protos.common.Empty) returns (nre.grpc.protos.common.VersionId);
+    rpc get_available_scenes (nre.grpc.protos.common.Empty) returns (nre.grpc.protos.common.AvailableScenesReturn);
     rpc get_available_cameras (AvailableCamerasRequest) returns (AvailableCamerasReturn);
-    rpc shut_down (common.Empty) returns (common.Empty);
+    rpc shut_down (nre.grpc.protos.common.Empty) returns (nre.grpc.protos.common.Empty);
     rpc get_available_trajectories (AvailableTrajectoriesRequest) returns (AvailableTrajectoriesReturn);
-    rpc get_available_ego_masks (common.Empty) returns (AvailableEgoMasksReturn);
+    rpc get_available_ego_masks (nre.grpc.protos.common.Empty) returns (AvailableEgoMasksReturn);
 }
 
 message EgoMaskId {
@@ -46,6 +43,11 @@ enum ShutterType {
     GLOBAL = 5; //Instantaneous global shutter (no rolling shutter)
 }
 
+message LinearCde {
+    double linear_c = 1;
+    double linear_d = 2;
+    double linear_e = 3;
+}
 
 message FthetaCameraParam {
     enum PolynomialType {
@@ -64,6 +66,8 @@ message FthetaCameraParam {
     repeated double angle_to_pixeldist_poly = 5;
 
     double max_angle = 6;
+
+    LinearCde linear_cde = 7;
 }
 
 //TODO: implentation of OpenCV pinhole camera model parameters
@@ -130,8 +134,8 @@ message CameraSpec {
 message PosePair {
     // represents poses at start and end of the frame
     // TODO: replace with common.Trajectory (more general)
-    common.Pose start_pose = 1;
-    common.Pose end_pose = 2;
+    nre.grpc.protos.common.Pose start_pose = 1;
+    nre.grpc.protos.common.Pose end_pose = 2;
 }
 
 message DynamicObject {
@@ -183,7 +187,7 @@ message AvailableCamerasRequest {
 message AvailableCamerasReturn {
     message AvailableCamera {
         CameraSpec intrinsics = 1;
-        common.Pose rig_to_camera = 2; // should be camera_to_rig -> silently breaks things, deprecate and create duplicate? or just fix and let people know
+        nre.grpc.protos.common.Pose rig_to_camera = 2; // should be camera_to_rig -> silently breaks things, deprecate and create duplicate? or just fix and let people know
 
         string logical_id = 3;
         uint32 trajectory_idx = 4;
@@ -199,7 +203,7 @@ message AvailableTrajectoriesRequest {
 message AvailableTrajectoriesReturn {
     message AvailableTrajectory {
         uint32 trajectory_idx = 1;
-        common.Trajectory trajectory = 2;
+        nre.grpc.protos.common.Trajectory trajectory = 2;
     }
 
     repeated AvailableTrajectory available_trajectories = 1;
@@ -241,4 +245,4 @@ message LidarRenderRequest {
     PosePair sensor_pose = 5;
 
     repeated DynamicObject dynamic_objects = 6;
-}
+}