October 2026

Belmont

California

11 real places

7 Worlds are publicly available, free with an account. The rest are private Worlds we've built.

km of road
3.4
lanes
930
junctions
79
signals
59
crosswalks
8
locations
1,849

SimForge Worlds are real places, rebuilt for simulation. Each World pairs an HD map, surveyed to the kerb, with a digital twin: the 3D scene Helios Engine renders by day, in the afternoon and at night.

What's in a World

The HD map

  • Road network: every lane, junction, signal and crosswalk in OpenDRIVE, georeferenced and versioned.
  • Lane graph: which lane continues onto which, with each junction's control and the movements that conflict inside it.
  • Typed locations: places to stage a scenario, each anchored by latitude and longitude, scene position and lane. The types are junction, junction movement, midblock segment, parking bay, occlusion zone, work-zone site, parking lane, crosswalk, bus stop and school zone.
  • Traffic network: a SUMO network built from the same OpenDRIVE and checked against it before it drives background traffic.
  • Street lights: each light's position and heading, so a night render lights the street where the street is lit.
The HD map of Palo Alto · College Terrace: lanes in grey, junctions outlined in red and signals as coloured dots over a dark street basemap.
Palo Alto · College Terrace, its HD map: every lane, junction and signal. Basemap © CARTO, © OpenStreetMap contributors.

The digital twin

  • 3D scene: buildings, kerbs, trees, street furniture and light fixtures placed from the survey, from the same release as the road network.
  • Time of day: Helios Engine places the sun where it really is at that hour, from the World's georeference.
  • Night: the street lights from the map light the scene, under a sky made from NASA's star and Moon maps.
An aerial view of Palo Alto · College Terrace at golden hour: a signalised intersection with crosswalks, cars and long shadows.
Palo Alto · College Terrace at golden hour, one frame of its digital twin as Helios Engine renders it.

The public Worlds

  • Belmont, California
  • Richmond, California
  • San Jose, California
  • Palo Alto · El Camino, California
  • Palo Alto · College Terrace, California
  • San Francisco · Dogpatch, California
  • San Ramon · Bollinger Canyon, California

Formats

  • OpenDRIVE: the road network (map.xodr)
  • GeoJSON: the road network, lane polygons and signals
  • JSON: the typed locations and the lane graph
  • SUMO: the traffic network (map.net.xml)
  • glTF and GLB: the 3D scene

Get them

Every public World is free for non-commercial use with a SimForge account. Sign in, then pull one with the CLI:

simforge maps pull belmont-research-center --accept-license

A World is 5 to 19 GB. The maps guide covers versions and the local cache. Every World is also in SimForge Studio, free to explore.

Install guide

Request a custom World

Need a place that isn't here? We build new Worlds on request: the HD map and the digital twin, with the same features and formats.

Request a custom World