Import a four-wheel FBX vehicle into a CARLA source build, configure its physics, wheels, and animation, and register it for the Python API. Verify that the resulting vehicle can spawn, drive, and steer.
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Imports an FBX vehicle into a CARLA source build as a spawnable vehicle.<make>.<model> — checks the FBX carries CARLA's 4-wheel bone rig, imports the mesh, then assembles the vehicle through CarlaTools' VehicleAuthoringLibrary (physics asset with kinematic wheel bodies, retargeted anim blueprint, four configured wheel blueprints, the vehicle blueprint), registers it in VehicleFactory through CARLA's own add_vehicle_to_vehicle_factory.py, and verifies it spawns, drives and steers. Use when the user asks to "add a car/truck/van to CARLA", "import a vehicle FBX", or needs a custom drivable vehicle spawnable from the Python API.
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查看安装方法安装前可以查看交给 AI 代理的指令内容。
Paths.
scripts/…andreferences/…below are relative to the directory holding this SKILL.md. Your working directory is the user's project, not that directory, so prefix them with its absolute path or the command is not found.
python3 scripts/import_vehicle.py ~/models/SK_MyVan.fbx \
--make ford --model transit --base-type truck --generation 3 --wheel-radius 40
The FBX must be a skeletal mesh whose wheels are bones named
Wheel_Front_Left, Wheel_Front_Right, Wheel_Rear_Left, Wheel_Rear_Right.
PhysX's PxVehicleDrive4W finds wheels by those exact names — the physics bodies, the
WheelSetups and the animation blueprint all address them — so the rig is checked
before anything boots.
The result spawns and drives like any native CARLA vehicle:
bp = bp_lib.find('vehicle.ford.transit')
car = world.spawn_actor(bp, world.get_map().get_spawn_points()[0])
car.apply_control(carla.VehicleControl(throttle=0.6, steer=0.2))
Pipeline, schema and constraints:
references/vehicle_import.md.
Vehicle Import Progress:
- [ ] Step 0: ASK THE USER for make, model, base type, generation and wheel radius
- [ ] Step 1: Check the INPUT FILE first — format, skinned, rig, textures
- [ ] Step 2: Check prerequisites — hand off to build-carla-ue4 on a build FAIL
- [ ] Step 3: Import — boot 1 assembles the vehicle, boot 2 registers it
- [ ] Step 4: Verify it spawns, drives and steers on a running server
Do this before anything else, every time. Do not infer them from the file name.
| ask | values | why it must be asked |
|---|---|---|
| make | e.g. ford, tesla, carla | first half of the blueprint id |
| model | e.g. transit, model3 | second half of the blueprint id |
| base type | car / truck / van / bus / motorcycle / bicycle | Traffic Manager and most example scripts filter on it |
| generation | 1 / 2 / 3 | asset generation the attribute claims |
| wheel radius | centimetres | PhysX sizes the suspension from it and nothing in the mesh states it |
Optional and worth offering: --wheel-width (defaults to 45% of the radius),
--wheel-mass, --steer-angle (default 70°), --special-type (electric,
emergency, taxi), --has-lights, --object-type.
Wheel radius is the one number with physical consequences: too small and the car sits in the road, too large and it bounces. Measure it in the authoring scene; failing that, a normal car's wheel diameter is roughly a third of its total height.
python3 scripts/check_input.py ~/models/SK_MyCar.fbx
Expected input, in one place:
| requirement | detail |
|---|---|
| format | FBX, binary or ASCII. Nothing else is importable — .ma, .mb, .blend, .max, .c4d, .obj, USD, glTF, COLLADA all fail here |
| kind | a skinned/skeletal mesh whose wheels are BONES. A rigid body is a prop, not a vehicle |
| rig | the four canonical wheel bones: Wheel_Front_Left, Wheel_Front_Right, Wheel_Rear_Left, Wheel_Rear_Right, plus a chassis bone (Vehicle_Base by convention; otherwise inferred) |
| textures | embedded (FBX export option "Embed Media") or texture files beside the FBX. Absolute paths from the author's machine resolve nowhere |
| contents | one vehicle per file; animation is not needed and is not imported |
| units | authored in cm or m — the importer converts scene units |
| known separately | the wheel radius in cm. It is not in the file and PhysX sizes the suspension from it |
Exit codes: 0 usable, 1 wheel bones missing, 2 unusable (wrong format, or not
skinned).
[input] SK_Ambulance_export.fbx 2493 KB
[input] PASS binary FBX
[input] PASS skinned
[input] PASS all 4 wheel bones present
Extra bones beyond the wheels and chassis are fine — doors, steering wheel, suspension helpers all pass. The texture line is a warning, never fatal.
import_vehicle.py runs this itself and refuses on a 1 or 2.
bash scripts/check_env.sh
Beyond a runnable editor this checks the things no step here can create: CarlaTools
built with VehicleAuthoringLibrary (hard blocker — see C4),
add_vehicle_to_vehicle_factory.py, the donor vehicle blueprint, its four donor wheel
blueprints, the donor anim blueprint, and that VehicleFactory has its Vehicles
member.
This skill never builds. On a FAIL naming UE4, CarlaUE4Editor or CarlaTools, stop
and run [[build-carla-ue4]] against that checkout.
python3 scripts/import_vehicle.py ~/models/SK_MyVan.fbx \
--make ford --model transit --base-type truck --generation 3 --wheel-radius 40
Assembly is done by CarlaTools' VehicleAuthoringLibrary, one library call per step, so
the skill never reimplements PhysX wheel setup:
| step | library function | what it produces |
|---|---|---|
| physics | SetupVehiclePhysicsAsset | convex chassis (simulated) + KINEMATIC spheres on the four wheel bones |
| animation | CreateVehicleAnimBP | a retargeted copy of a template anim blueprint |
| wheels | ConfigureWheel ×4 | four duplicated wheel blueprints; front pair steers, rear pair takes the handbrake |
| vehicle | CreateVehicleBlueprint | duplicated donor BP with mesh, anim class and WheelSetups repointed |
Reported per run:
[vehicle] mesh /Game/Carla/Static/Vehicles/TestAmbulance/SK_TestAmbulance...
[vehicle] size 6.37 x 2.35 x 2.43 m
[vehicle] physics .../SK_TestAmbulance_PhysicsAsset
[vehicle] anim BP .../AnimBP_TestAmbulance
[vehicle] wheel Wheel_Front_Left: BP_TestAmbulance_FLW steers=True
[vehicle] blueprint /Game/Carla/Blueprints/Vehicles/TestAmbulance/BP_TestAmbulance
[vehicle] CDO mesh .../SK_TestAmbulance <- read back, not assumed
The CDO mesh line matters: the mesh lives on an inherited native component, and a
recompile would silently revert it to None (C1), so the importer reads it back.
Other flags:
| flag | why |
|---|---|
--name | asset name; defaults to the FBX stem |
--donor | donor vehicle blueprint to duplicate (default BP_Ambulance) |
--donor-anim-bp | anim blueprint template to retarget |
--wheel-width, --wheel-mass, --steer-angle | wheel tuning |
--object-type, --special-type, --has-lights | extra FVehicleParameters fields |
--mesh | nominate one mesh when a multi-mesh FBX yields several |
--no-register | build the assets, leave VehicleFactory alone (not spawnable) |
--register-only | register an already-built blueprint |
--skip-input-check | import without the canonical wheel bones (it will not drive) |
--verbose | stream the editor log |
Both are full editor sessions, not the fast commandlet. CreateVehicleAnimBP
retargets animations, and UE's retarget path syncs the Content Browser, which builds a
Slate window — in a commandlet that asserts and takes the process down mid-assembly
(C6). Registration needs a full editor anyway, to compile the factory blueprint.
Boot 2 runs CARLA's own script, which ships with CARLA and is runnable by hand:
Unreal/CarlaUE4/Plugins/CarlaTools/Content/Python/add_vehicle_to_vehicle_factory.py
It appends an FVehicleParameters to VehicleFactory.Vehicles and saves. The skill
supplies its arguments and confirms the factory package changed on disk.
Vehicles need a running server. Assume one is already up — do not start one; if the connection fails, say so and let the user start it. A server keeps content from its startup, so it must be restarted after an import for a pass to mean anything.
python3 scripts/verify_vehicle.py --id vehicle.ford.transit
Five checks, because each catches a different way an import looks fine and is not:
| check | what it catches |
|---|---|
| in the library and spawns | a missing factory entry, an unloadable mesh |
| registered attributes | a wrong base_type / generation reaching the library |
get_physics_control() reports 4 wheels | wheel setups or physics bodies wrong |
| drives ≥ 3 m at full throttle | simulated (not kinematic) wheel bodies — the classic frozen car |
| heading changes under full steer | front wheels bound to the wrong bones |
--keep leaves the vehicle in the world to look at.
Example 1: a van
User says: "add this van FBX to CARLA"
# step 0: ask make / model / base type / generation / wheel radius first
bash scripts/check_env.sh
python3 scripts/import_vehicle.py ~/models/SK_MyVan.fbx \
--make ford --model transit --base-type van --generation 3 --wheel-radius 38
python3 scripts/verify_vehicle.py --id vehicle.ford.transit # after a server restart
Example 2: an emergency vehicle with lights
python3 scripts/import_vehicle.py ~/models/SK_Ambulance.fbx \
--make carla --model ambulance2 --base-type truck --generation 3 \
--wheel-radius 40 --special-type emergency --has-lights
Example 3: build now, register later
python3 scripts/import_vehicle.py ~/models/SK_Prototype.fbx \
--make acme --model proto --base-type car --generation 3 \
--wheel-radius 35 --no-register
# later
python3 scripts/import_vehicle.py ~/models/SK_Prototype.fbx --register-only \
--name SK_Prototype --make acme --model proto --base-type car \
--generation 3 --wheel-radius 35
does not carry CARLA's 4-wheeled rig / missing wheel bones
Cause: the FBX's joints are not named as PhysX expects.
Solution: rename them in the authoring scene and re-export. --skip-input-check imports
anyway and produces a car that cannot drive.
no skin cluster — a CARLA vehicle is a SKELETAL mesh
Cause: a rigid-body FBX.
Solution: the wheels must be bones. A static mesh belongs to [[import-carla-prop]].
CarlaTools does not expose VehicleAuthoringLibrary
Cause: CarlaTools predates CARLA PR #9805.
Solution: rebuild CarlaTools against a checkout that has it (C4). There is no fallback:
building wheel bodies from editor Python is not a reasonable substitute.
SetupVehiclePhysicsAsset failed
Cause: the wheel bones exist in the FBX but not in the imported skeleton, or the mesh
has no skinned geometry to hull.
Solution: check the reported skeleton, then re-export with skinning intact.
the vehicle blueprint's CDO has no SkeletalMesh
Cause: the native-component override did not persist — what a recompile after writing
the CDO produces (C1).
Solution: re-import; never recompile the assembled blueprint.
Vehicle spawns but will not move at full throttle
Cause: wheel bodies simulated instead of kinematic, or no bodies on the wheel bones
(C2).
Solution: re-import so SetupVehiclePhysicsAsset rebuilds them; check the wheel radius
is sane.
Vehicle drives but will not steer
Cause: the front wheel blueprints have no steer angle, or the wheel order does not match
the bone order (C3).
Solution: re-import; --steer-angle sets the angle.
Vehicle sits in the road, or bounces
Cause: --wheel-radius does not match the mesh (C2).
Solution: measure the wheel and re-import.
Vehicle renders untextured Cause: the FBX embeds no textures, so each slot got a blank material (C5). Solution: re-export with Embed Media, or supply the texture files.
Content/Carla/Static/Vehicles/<Name>/ — SK_<Name>, its skeleton,
<Name>_PhysicsAsset, AnimBP_<Name>, and the FBX's materials.Content/Carla/Blueprints/Vehicles/<Name>/BP_<Name>.uasset — the spawnable vehicle.…/BP_<Name>_{FLW,FRW,RLW,RRW}.uasset — the four configured wheel blueprints.Content/Carla/Blueprints/Vehicles/VehicleFactory.uasset — the entry that makes it
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Add a message type to CARLA's native ROS 2 interface. Create its C++ data structure, serialization code for transmission, type identity hash, registration, and tests, with Docker-based hash calculation and build checks.
中文简介正在准备中。当前显示英语简介。
Extend CARLA’s native ROS 2 interface to publish sensor data or receive vehicle commands. Covers topic implementation, registration, data connections, and verification, plus adding middleware, the communication layer used to exchange messages.
中文简介正在准备中。当前显示英语简介。
Summarize ScenarioRunner results to see which scenarios passed and which checks failed. Compare runs before and after changes, or analyze recorded driving to produce measurements and plots of vehicle distance and deviation from the lane center.
中文简介正在准备中。当前显示英语简介。
Checks a local CARLA checkout for missing API documentation, outdated references, broken links, and pages absent from navigation. Produces a grouped Markdown report without building the project or running the simulator.
中文简介正在准备中。当前显示英语简介。
Read and display CARLA object bounding boxes, then project them onto a camera image as 2D rectangles. Export an annotated PNG and box coordinates in JSON for object detection annotation work.
中文简介正在准备中。当前显示英语简介。
Builds CARLA's ue4-dev branch on Linux, producing the Unreal Engine 4.26 editor, server modules, and an installed Python client package. Fetches required content, optionally compiles native ROS 2 support, and verifies the build against a source-built server.
中文简介正在准备中。当前显示英语简介。