Add f1fifth params

f1tenth · Oct 8, 2024 · 4d706e6 · 4d706e6
1 parent 34a1d73
commit 4d706e6
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
@@ -324,6 +324,30 @@ def fullscale_vehicle_params(cls) -> dict:
         }
         return params
 
+    @classmethod
+    def f1fifth_vehicle_params(cls) -> dict:
+        params = {
+            "mu": 1.0489,
+            "C_Sf": 4.718,  # TODO: identify these parameters
+            "C_Sr": 5.4562, # TODO: identify these parameters
+            "lf": 0.2735,
+            "lr": 0.2585,
+            "h": 0.1875,
+            "m": 15.32,
+            "I": 0.6433215993,
+            "s_min": -0.4189,
+            "s_max": 0.4189,
+            "sv_min": -3.2,
+            "sv_max": 3.2,
+            "v_switch": 7.319,
+            "a_max": 9.51,
+            "v_min": -5.0,
+            "v_max": 20.0,
+            "width": 0.54,
+            "length": 0.779,
+        }
+        return params
+
     @classmethod
     def f1tenth_vehicle_params(cls) -> dict:
         params = {