Simulator

Simulator Configuration

{
  "id": "simulator",
  "server_ip": "127.0.0.1",
  "server_port": 8999,
  "traffic_configuration": {
    "max_vehicles": 0,
    "min_desired_speed": 0.0,
    "max_desired_speed": 1.0,
    "spawn_leash_distance": 15000,
    "min_spawn_range": 2000,
    "swarm_traffic": true,
    "vertical_offset": 5,
    "overtake_slower_vehicles" : false
  },
  "simulation_mode": 2,
  "map": "Almono",
  "phys_materials": {
    "Aluminum": {
      "specular_exponent": 15.0,
      "specular_coefficient": 0.95,
      "diffuse_coefficient": 0.26,
      "dielectric_constant": 10.0,
      "roughness": 0.15
    },
    "Asphalt": {
      "specular_exponent": 1.0,
      "specular_coefficient": 0.03,
      "diffuse_coefficient": 0.65,
      "dielectric_constant": 7.0,
      "roughness": 0.65
    },
    "Concrete": {
      "specular_exponent": 0.0,
      "specular_coefficient": 0.1,
      "diffuse_coefficient": 0.65,
      "dielectric_constant": 7.0,
      "roughness": 0.0
    },
    "Glass": {
        "specular_exponent": 80.0,
        "specular_coefficient": 0.80,
        "diffuse_coefficient": 0.15,
        "dielectric_constant": 4.0,
        "roughness": 0.10
      },
    "Gravel": {
        "specular_exponent": 10.0,
        "specular_coefficient": 0.1,
        "diffuse_coefficient": 0.95,
        "dielectric_constant": 7.0,
        "roughness": 0.48
      },
    "LandScape": {
        "specular_exponent": 10.0,
        "specular_coefficient": 0.50,
        "diffuse_coefficient": 0.50,
        "dielectric_constant": 10.0,
        "roughness": 0.60
      },
    "Plastic": {
        "specular_exponent": 25.0,
        "specular_coefficient": 0.40,
        "diffuse_coefficient": 0.60,
        "dielectric_constant": 2.8,
        "roughness": 0.09
      },
    "ReflectiveMaterial": {
      "specular_exponent": 10.0,
      "specular_coefficient": 0.5,
      "diffuse_coefficient": 0.5,
      "dielectric_constant": 1.0,
      "roughness": 1.0
    },
    "Road": {
      "specular_exponent": 1.0,
      "specular_coefficient": 0.1,
      "diffuse_coefficient": 0.65,
      "dielectric_constant": 7.0,
      "roughness": 0.65
    },
    "RoadPaint": {
        "specular_exponent": 10.0,
        "specular_coefficient": 10.0,
        "diffuse_coefficient": 2.0,
        "dielectric_constant": 7.0,
        "roughness": 1.0
      },
    "Steel": {
      "specular_exponent": 26.0,
      "specular_coefficient": 1.0,
      "diffuse_coefficient": 0.33,
      "dielectric_constant": 0.0,
      "roughness": 0.23
    },
    "Tire": {
      "specular_exponent": 25.0,
      "specular_coefficient": 0.40,
      "diffuse_coefficient": 0.60,
      "dielectric_constant": 2.8,
      "roughness": 0.15
    },
    "Tree": {
      "specular_exponent": 10.0,
      "specular_coefficient": 0.05,
      "diffuse_coefficient": 0.97,
      "dielectric_constant": 10.0,
      "roughness": 0.60
    },
    "Wheel": {
      "specular_exponent": 92.0,
      "specular_coefficient": 0.95,
      "diffuse_coefficient": 0.06,
      "dielectric_constant": 10.0,
      "roughness": 0.15
    }
  }
}

Configuration Tags

• server_ip: The IP address of the computer running the monoDrive simulator.
• id: The name for the simulator configuration i.e. "simulator with no traffic"
• map: The name of the map to load.
• phys_materials: Specify the physical material properties for the specular exponent (10-100), specular reflection coefficient (0.0-1.0), diffuse reflection coefficient (0.0-1.0), dielectric constant (0.10-10,000+), and roughness (0.0-1.0).
• server_port: the TCP port for the simulator, typically 8999.
• simulation_mode: Closed loop (0), replay(1), hil(2), closed loop fixed time step mode(3).
• traffic_configuration: The behavior of other vehicles on simulation.
  • max_vehicles: Maximum number of vehicles spawn in the map.
  • min_desired_speed: Specify the maximum amount the speed of any vehicle can be reduced from the speed limit of the road. Units on km per hour.
  • max_desired_speed: Specify the maximum amount the speed of any vehicle can be increased from the speed limit of the road. Units on km per hour.
  • swarm_traffic": Set to True if you want to control the distance where other vehicles can spawn as well as when they can disappear from the map.
  • spawn_leash_distance: If swarm_traffic enabled. Specify the maximum distance a car can be from the ego vehicle before it gets destroyed. Units on centimeters.
  • min_spawn_range: If swarm_traffic enabled. Specify the minimum distance where a car can be spawn from the ego vehicle. Units on centimeters.
  • vertical_offset: Specify the distance from the road a car is being spawn on the Z direction.
  • overtake_slower_vehicles: Set to True if you want to allow cars at a faster speed to overtake cars moving slower.