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.