export a list of assets to instance id pairs

[kloek]

Hi i would like to create sensordata from carla where i also export a list of asset to instance id pairs, but haven't been able to find anything in the documentation about this?

Imagine running a simulation for x time and saving sensors plus ground, most importantly the instance segmentation, so that if a specific 3d assets gets instance id a1, then i want to save a list similar to:

a1, /path/to/asset_a1
a2, /path/to/asset_a2
a3, /path/to/asset_a3

where the ax are unique per actor/asset, and the path could be same if the are different instances of same asset.

This is to both measure how often same assets show up but also the re-assign classes to assets after the data has been generated, i.e manipulating the semantic segmentation map.

So a couple of questions:

1. an actor that has been imported in the world i understand has the same instance id during its life time of that simulation? of is that set while it is in view of the camera?
2. is there any way to get a list of all the instances thru carla python api in a carla simulation? both instance id and the corresponding asset path?
3. could i create this from the simulation start and it stays correct fro the remainder of that simulation or could they update during the simulation?

Best regards,
Anton