Vehicle defaults

SMARTS provides vehicle configuration for agent control.

Default agent vehicle details

Vehicle	Sedan (Default)	Bus (class 4)	Pickup truck (class 2a)	Empty moving truck (class 5)	Loaded moving truck (class 5)
Resource	“sedan” \| “generic_sedan”	“bus” \| “generic_bus”	“pickup” \| “generic_pickup_truck”	“moving_truck_empty”	“moving_truck_loaded”
Dimensions (LWH)	3.68 1.47 1.30	7.00 2.20 2.40	5.00 1.91 1.89	7.10 2.40 2.40	7.10 2.40 2.40
Mass (kg)	2356.00	6000.00	2600.00	6500.00	8700.00

Note that the dimensions do not take into account elevation due to the wheels.

Note

See also vehicles/vehicle_definitions_list.yaml and truck classifications <https://en.wikipedia.org/wiki/Truck_classification>.

Specifying vehicle definitions

Vehicles can be configured in a few different ways.

Configuration file

[assets]
default_vehicle_definitions_list = path/to/file.yaml

Note

Environment variable

Setting SMARTS_ASSETS_DEFAULT_VEHICLE_DEFINITIONS_LIST will cause SMARTS to use the given vehicle definitions file as the default vehicle definitions.

Note

Scenario

Including a vehicle_definitions_list.yaml in your scenario will cause SMARTS to use those vehicle definitions for the duration of the scenario.

$ tree scenarios/sumo/loop
scenarios/sumo/loop
├── build
│   └── ...
├── map.net.xml
├── rerouter.add.xml
├── scenario.py
└── vehicle_definitions_list.yaml # <---

Usage

Agent interface

from smarts.core.agent_interface import AgentInterface
from smarts.core.controllers import ActionSpaceType

agent_interface = AgentInterface(
    max_episode_steps=1000,
    waypoint_paths=True,
    vehicle_class="pickup",
    action=ActionSpaceType.Continuous,
)

Note

Syntax

A vehicle can be composed in the following way:

YAML configurations

# vehicle_definitions_list.yaml
f150: /usr/home/dev/vehicles/f150.yaml

# /usr/home/dev/vehicles/f150.yaml
model: Ford F-150
type: truck
controller_params: ${SMARTS_ASSETS_PATH}/vehicles/controller_params/generic_pickup_truck.yaml
chassis_params: ${SMARTS_ASSETS_PATH}/vehicles/chassis_params/generic_pickup_truck.yaml
dynamics_model: /usr/home/dev/vehicles/f150_loaded.urdf
visual_model: /usr/home/dev/vehicles/f150.glb
tire_params: null # ${SMARTS_ASSETS_PATH}/vehicles/tire_params/base_tire_parameters.yaml

Note

See Configuration for details about how YAML is resolved.

Note

See vehicles/controller_params/generic_pickup_truck.yaml and vehicles/chassis_params/generic_pickup_truck.yaml.

URDF hierarchy

The vehicle .urdf requires the following link configuration:

base_link
└── <base_link_connection (joint 0)> chassis
    ├── <front_left_steer_joint (joint 1)> fl_axle
    │   └── <front_left_wheel_joint (joint 2)> front_left_wheel
    ├── <front_right_steer_joint (joint 3)> fr_axle
    │   └── <front_right_wheel_joint (joint 4)> front_right_wheel
    ├── <rear_left_wheel_joint (joint 5)> rear_left_wheel
    └── <rear_right_wheel_joint (joint 6)> rear_right_wheel

In XML this looks like:

<!--vehicle.urdf-->
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="vehicle">
    <!--Link order is NOT important.-->
    <link name="base_link">...</link>
    <link name="chassis">...</link>
    <link name="fl_axle">...</link>
    <link name="fr_axle">...</link>
    <link name="front_left_wheel">...</link>
    <link name="front_right_wheel">...</link>
    <link name="rear_left_wheel">...</link>
    <link name="rear_right_wheel">...</link>

    <!--++++Joint order IS important.++++-->
    <joint name="base_link_connection" type="fixed">
        <parent link="base_link"/>
        <child link="chassis"/>
    </joint>
    <joint name="front_left_steer_joint" type="revolute">
        <parent link="chassis"/>
        <child link="fl_axle"/>
    </joint>
    <joint name="front_right_steer_joint" type="revolute">
        <parent link="chassis"/>
        <child link="fr_axle"/>
    </joint>
    <joint name="front_left_wheel_joint" type="continuous">
        <parent link="fl_axle"/>
        <child link="front_left_wheel"/>
    </joint>
    <joint name="front_right_wheel_joint" type="continuous">
        <parent link="fr_axle"/>
        <child link="front_right_wheel"/>
    </joint>
    <joint name="rear_left_wheel_joint" type="continuous">
        <parent link="chassis"/>
        <child link="rear_left_wheel"/>
    </joint>
    <joint name="rear_right_wheel_joint" type="continuous">
        <parent link="chassis"/>
        <child link="rear_right_wheel"/>
    </joint>
</robot>

Note

Joint name and order is critical. Joints and links in excess of the required joints will not cause problems.