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Catalogue Vehicles

Docs/catalogue_vehicles.md

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<!--- The images in this document were captured using the following settings in CARLA: Town: Town 10 Vehicle location: Transform(Location(x=-46.885479, y=20.083447, z=-0.002633), Rotation(pitch=-0.000034, yaw=141.974243, roll=0.000000)) Camera location, small vehicles: Transform(Location(x=-47.696186, y=24.049326, z=1.471929), Rotation(pitch=-10.843717, yaw=-77.215683, roll=0.000139)) Camera location, standard vehicles: Transform(Location(x=-48.672256, y=24.830288, z=1.722733), Rotation(pitch=-13.396630, yaw=-75.692039, roll=0.000119)) Camera location, large vehicles: Transform(Location(x=-49.470921, y=27.835310, z=2.931721), Rotation(pitch=-13.396630, yaw=-75.691978, roll=0.000119)) The weather settings are: weather.sun_altitude_angle = 50 weather.sun_azimuth_angle = 260 weather.wetness = 10 weather.precipitation = 10 weather.scattering_intensity = 5 weather.mie_scattering_scale = 0.5 weather.rayleigh_scattering_scale = 0.1 Camera settings: camera_bp = bp_lib.find('sensor.camera.rgb') camera_bp.set_attribute('image_size_x', '1920') camera_bp.set_attribute('image_size_y', '1080') camera_bp.set_attribute('fstop', '6.0') Vehicle settings: control = vehicle.get_control() control.steer = -0.25 vehicle.apply_control(control) --->

Vehicle catalogue

Inspect the vehicles in the simulator

To examine a vehicle from the catalog, use the following code, retrieve the blueprint ID from the vehicle's details below and paste it into the line bp_lib.find('blueprint.id.goes_here'):

py
client = carla.Client('localhost', 2000)
world = client.get_world()
bp_lib = world.get_blueprint_library()
spectator = world.get_spectator()

# Set up the vehicle transform
vehicle_loc = carla.Location(x=-46.9, y=20.0, z=0.2)
vehicle_rot = carla.Rotation(pitch=0.0, yaw=142.0, roll=0.0)
vehicle_trans = carla.Transform(vehicle_loc,vehicle_rot)

# Paste the blueprint ID here:
vehicle_bp = bp_lib.find('vehicle.lincoln.mkz') 

# Set up the view transform
camera_loc = carla.Location(x=-48.7, y=24.8, z=1.7)
camera_rot = carla.Rotation(pitch=-13.4, yaw=-75.7, roll=0.0)
camera_trans = carla.Transform(camera_loc,camera_rot)

# Spawn the vehicle
vehicle = world.spawn_actor(vehicle_bp, vehicle_trans)

# Move the spectator
spectator.set_transform(camera_trans)

Don't forget to destroy the vehicle before you try and spawn another to avoid a collision:

py
vehicle.destroy()

Cars

Audi - TT

  • Manufacturer: Audi

  • Model: TT

  • Class: Standard

  • Generation: 1

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.ue4.audi.tt<span>

  • Base type: car

  • Has lights: <span style="color:#f16c6c;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

BMW - Gran Tourer

  • Manufacturer: BMW

  • Model: Gran Tourer

  • Class: Compact

  • Generation: 1

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.ue4.bmw.grantourer<span>

  • Base type: car

  • Has lights: <span style="color:#f16c6c;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

Chevrolet - Impala

  • Manufacturer: Chevrolet

  • Model: Impala

  • Class: Standard

  • Generation: 1

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.ue4.chevrolet.impala<span>

  • Base type: car

  • Has lights: <span style="color:#f16c6c;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

Dodge - Charger

  • Manufacturer: Dodge

  • Model: Charger 2020

  • Class: Standard

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.dodge.charger<span>

  • Base type: car

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Dodge - Police Charger

  • Manufacturer: Dodge

  • Model: Police Charger 2020

  • Class: Standard

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.dodgecop.charger<span>

  • Base type: car

  • Special type: emergency

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Ford - Crown (taxi)

  • Manufacturer: Ford

  • Model: Crown (taxi)

  • Class: Standard

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.taxi.ford<span>

  • Base type: car

  • Special type: taxi

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Ford - Mustang

  • Manufacturer: Ford

  • Model: Mustang

  • Class: Standard

  • Generation: 1

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.ue4.ford.mustang<span>

  • Base type: car

  • Has lights: <span style="color:#f16c6c;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

Lincoln - MKZ

  • Manufacturer: Lincoln

  • Model: MKZ

  • Class: Standard

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.lincoln.mkz<span>

  • Base type: car

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Mercedes - Coupe

  • Manufacturer: Mercedes

  • Model: Coupe

  • Class: Standard

  • Generation: 1

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.ue4.mercedes.ccc<span>

  • Base type: car

  • Has lights: <span style="color:#f16c6c;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

Mini - Cooper S

  • Manufacturer: Mini

  • Model: Cooper S 2021

  • Class: Standard

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.mini.cooper<span>

  • Base type: car

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Nissan - Patrol

  • Manufacturer: Nissan

  • Model: Patrol

  • Class: SUV

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.nissan.patrol<span>

  • Base type: car

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Trucks

CARLA Motors - CarlaCola

  • Manufacturer: CARLA Motors

  • Model: CarlaCola

  • Class: Truck

  • Generation: 1

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.carlacola.actors<span>

  • Base type: truck

  • Has lights: <span style="color:#f16c6c;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

CARLA Motors - Firetruck

  • Manufacturer: CARLA Motors

  • Model: Firetruck

  • Class: Truck

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.firetruck.actors<span>

  • Base type: truck

  • Special type: emergency

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Vans

Ford - Ambulance

  • Manufacturer: Ford

  • Model: Ambulance

  • Class: Van

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.ambulance.ford<span>

  • Base type: van

  • Special type: emergency

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Mercedes - Sprinter

  • Manufacturer: Mercedes

  • Model: Sprinter

  • Class: Van

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.sprinter.mercedes<span>

  • Base type: van

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#99c635;">True<span>

Buses

Mitsubishi - Fusorosa

  • Manufacturer: Mitsubishi

  • Model: Fusorosa

  • Class: Bus

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.fuso.mitsubishi<span>

  • Base type: bus

  • Has lights: <span style="color:#99c635;">True<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>

Industrial

Mining earth mover

  • Manufacturer: Not specified

  • Model: Earth mover

  • Class: Truck

  • Generation: 2

  • Blueprint ID: <span style="color:#00a6ed;">vehicle.miningtruck.miningtruck<span>

  • Base type: truck

  • Has lights: <span style="color:#99c635;">False<span>

  • Has opening doors: <span style="color:#f16c6c;">False<span>