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Carla Utility: Vehicle Physics Control in JSON format

This repository has the vehicle physics control for all the vehicles in the latest Carla release in json format, which can be useful for research, developing custom models...

How to use?

Use Pre-Generated data files

You can simply access the data that corresponds to the vehicle you are using in ./data.

Re-Generate the data files

It is possible to regenerate the vehicle physics control for all the vehicles that are currently available in you Carla server by running python generate_all.py. Or for a single vehicle vehicle by following example.py.

About Carla Vehicle Physics Control

More details can be found in this page.

Vehicle Physics Control

Property Units Type Description
torque_curve N·m list(carla.Vector2D) Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine.
max_rpm RPM float The maximum RPM of the vehicle's engine.
moi kg·m² float The moment of inertia of the vehicle's engine.
damping_rate_full_throttle - float Damping ratio when the throttle is maximum.
damping_rate_zero_throttle_clutch_engaged - float Damping ratio when the throttle is zero with clutch engaged.
damping_rate_zero_throttle_clutch_disengaged - float Damping ratio when the throttle is zero with clutch disengaged.
use_gear_autobox - bool If True, the vehicle will have an automatic transmission.
gear_switch_time s float Switching time between gears.
clutch_strength kg·m²/s float Clutch strength of the vehicle.
final_ratio - float Fixed ratio from transmission to wheels.
forward_gears - list(carla.GearPhysicsControl) List of objects defining the vehicle's gears.
mass kg float Mass of the vehicle.
drag_coefficient - float Drag coefficient of the vehicle's chassis.
center_of_mass m carla.Vector3D Center of mass of the vehicle.
steering_curve - list(carla.Vector2D) Curve that indicates the maximum steering for a specific forward speed.
use_sweep_wheel_collision - bool Enable the use of sweep for wheel collision. By default, it is disabled and it uses a simple raycast from the axis to the floor for each wheel. Provides a better collision model.
wheels - list(carla.WheelPhysicsControl) List of wheel physics objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 to the front right wheel, 2 to the back left, and 3 to the back right. For 2-wheeled vehicles, set the same values for both front and back wheels.

Vector 2D

Property Units Type Description
x - float X-axis value.
y - float Y-axis value.

Vector 3D

Property Units Type Description
x - float X-axis value.
y - float Y-axis value.
z - float Z-axis value.

Gear Physics Control

Property Units Type Description
ratio - float The transmission ratio of the gear.
down_ratio - float Quotient between current RPM and MaxRPM where the autonomous gear box should shift down.
up_ratio - float Quotient between current RPM and MaxRPM where the autonomous gear box should shift up.

Wheel Physics Control

Property Units Type Description
tire_friction - float A scalar value that indicates the friction of the wheel.
damping_rate - float Damping rate of the wheel.
max_steer_angle degrees float Maximum angle that the wheel can steer.
radius cm float Radius of the wheel.
max_brake_torque N·m float Maximum brake torque.
max_handbrake_torque N·m float Maximum handbrake torque.
position m carla.Vector3D World position of the wheel. This is a read-only parameter.
long_stiff_value kg per radian float Tire longitudinal stiffness per unit gravitational acceleration. Each vehicle has a custom value.
lat_stiff_max_load - float Maximum normalized tire load at which the tire can deliver no more lateral stiffness no matter how much extra load is applied.
lat_stiff_value - float Maximum stiffness per unit of lateral slip. Each vehicle has a custom value.