I want to know the dynamic or kinematic model of vehicles in SMARTS

[dailf678]

High Level Description

When I select ActuatorDynamic for my ActionSpaceType, I need to set throttle, brake, and steering_ Rate. But I don't know the dynamics or kinematic models inside the vehicle.

Version

latest

Operating System

No response

Problems

In your paper "SMARTS: Scalable Multi-Agent Reinforcement
Learning Training School for Autonomous Driving" that you mentioned "Physics is supported through the vehicle provider, which simulates the specific physical vehicle model and exposes a control interface at different levels of abstraction: throttle stroke training, trajectory tracking, and lane following." I would like to know if it is possible to set up a "physical vehicle model."

[Frzgunr1]

Hi @dailf678 ，From my understanding of the code, to view the vehicle dynamics model, you only need to focus on SMARTS/smarts/core/models/controller_parameters.yaml and SMARTS/smarts/core/vehicle.py

[Gamenot]

See #2116.