SimForge Worlds and assets

SimForge Worlds are where scenarios happen. Each World is an HD map of a real-world road network (lanes, signals, the traffic network) with its digital twin, the 3D environment the renderer draws. The CLI calls a World a map. Scenarios are built on an installed map, and the installed version is the one they pin.

Download a map#

simforge maps pull easterbrook-discovery-school@v9 --accept-license

maps pull downloads a map your signed-in account is entitled to, checks the download against its sha256, and installs it into the local maps cache. Pin a version with name@version; without one you get the current release. --accept-license accepts the current agreement, as for the runtime. --cache-root DIR puts the cache somewhere else. An interrupted download resumes when you run the command again.

Accepting the agreement is all a public map needs: the first download entitles your workspace. The public maps are richmond-field-station, easterbrook-discovery-school, el-camino-road, belmont-research-center, yale-street, san-ramon-phase-1 and di-rosa-sf. A map that is not public fails with entitlement_required (pick another map; retrying does not help), and one an operator withdrew from your workspace with entitlement_revoked. Every map download is signed, and the CLI refuses an unsigned or untrusted one (signature_*).

A map is 5–19 GB and the download prints no progress. Pulling a map again downloads it again, so pull each version once. After the download, commands take the map's name (easterbrook-discovery-school), not name@version.

Maps in the cloud#

simforge maps list
simforge maps show <map-id>

These list the hosted maps your workspace can use with --cloud.

Actor models#

simforge assets pull

assets pull downloads the actor models the renderer draws (cars, people, props) and their ATTRIBUTION.json, checking every file's sha256. The public actor set is the CARLA asset library under CC BY 4.0: keep the attribution file with anything you publish that shows them.

When a map is missing#

A local command on a map that is not installed fails with map_not_installed and names the map. Pull it, then run the command again. simforge doctor shows the cache folders and their free space.