BerkeleyLearnVerify · lola831 · Apr 30, 2026 · May 13, 2026 · May 14, 2026 · May 20, 2026
diff --git a/assets/maps/CARLA/Town10HD_Opt.net.xml b/assets/maps/CARLA/Town10HD_Opt.net.xml
diff --git a/assets/maps/CARLA/Town10HD_Opt.xodr b/assets/maps/CARLA/Town10HD_Opt.xodr
diff --git a/docs/simulators.rst b/docs/simulators.rst
@@ -69,14 +69,23 @@ Our interface to the `CARLA <https://carla.org/>`_ simulator enables using Sceni
 The interface supports dynamic scenarios written using the CARLA world model (:obj:`scenic.simulators.carla.model`) as well as scenarios using the cross-platform :ref:`driving_domain`.
 To use the interface, please follow these instructions:
 
-1. Install the latest version of CARLA (we've tested versions 0.9.9 through 0.9.16) from the `CARLA Release Page <https://github.com/carla-simulator/carla/releases>`_.
-   Note that CARLA currently only supports Linux and Windows.
+1. Install the latest version of CARLA (we've tested versions 0.9.9 through 0.10.0) from the `CARLA Release Page <https://github.com/carla-simulator/carla/releases>`_.
+   Note that CARLA currently only supports Linux and Windows. If you plan to use **0.10.0**, double-check its higher system requirements in the `CARLA UE5 quick-start guide <https://carla-ue5.readthedocs.io/en/latest/start_quickstart/>`_.
 2. Install Scenic in your Python virtual environment as instructed in :ref:`quickstart`.
 3. Within the same virtual environment, install CARLA's Python API.
    How to do this depends on the CARLA version and whether you built it from source:
 
 	.. tabs::
 
+		.. tab:: 0.10.0
+
+			If you're using **CARLA 0.10.0** (not yet on PyPI), install the client wheel that ships with the simulator:
+
+			.. code-block:: text
+
+				cd CARLA_ROOT/PythonAPI/dist/
+                                python3 -m pip install carla-*.*.*-cp3*-linux_x86_64.whl
+
 		.. tab:: 0.9.12+
 
 			Run the following command, replacing ``X.Y.Z`` with the version of CARLA you installed:
@@ -111,9 +120,16 @@ To use the interface, please follow these instructions:
 You can check that the ``carla`` package was correctly installed by running :command:`python -c 'import carla'`: if it prints ``No module named 'carla'``, the installation didn't work.
 We suggest upgrading to a newer version of CARLA so that you can use :command:`pip` to install the Python API.
 
-To start CARLA, run the command :command:`./CarlaUE4.sh` in your CARLA folder.
+To start CARLA, run the command :command:`./CarlaUE4.sh` in your CARLA folder (for **CARLA 0.10.0**, use :command:`./CarlaUnreal.sh` instead).
 Once CARLA is running, you can run dynamic Scenic scenarios following the instructions in :ref:`the dynamics tutorial <dynamics_running_examples>`.
 
+.. note:: CARLA 0.10.0 compatibility
+
+   - All ``examples/carla`` scenarios now support both CARLA 0.9.x and 0.10.0.  
+   - Only the **Town10HD_Opt** map is available in 0.10.0.  
+   - The 0.10.0 blueprint library is different (for example, bicycle blueprints are currently unavailable).
+   - There are some differences in physics in 0.10.0 (for example, car and pedestrian movement is slower). 
+
 
 Grand Theft Auto V
 ------------------

diff --git a/examples/carla/Carla_Challenge/carlaChallenge1.scenic b/examples/carla/Carla_Challenge/carlaChallenge1.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt' 
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 EGO_SPEED = 10
 
 ## DEFINING BEHAVIORS

diff --git a/examples/carla/Carla_Challenge/carlaChallenge10.scenic b/examples/carla/Carla_Challenge/carlaChallenge10.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 20
 BRAKE_INTENSITY = 1.0
@@ -36,6 +36,9 @@ behavior EgoBehavior(speed, trajectory):
 
 fourWayIntersection = filter(lambda i: i.is4Way and not i.isSignalized, network.intersections)
 
+if not fourWayIntersection:
+    raise RuntimeError("This map doesn't have any four-way unsignalized intersections.")
+
 # make sure to put '*' to uniformly randomly select from all elements of the list
 intersec = Uniform(*fourWayIntersection)
 ego_start_lane = Uniform(*intersec.incomingLanes)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge2.scenic b/examples/carla/Carla_Challenge/carlaChallenge2.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 EGO_SPEED = 10
 EGO_BRAKING_THRESHOLD = 12
 
@@ -56,5 +56,5 @@ ego = new Car following roadDirection from leadCar for Range(-15, -10),
         with blueprint EGO_MODEL,
         with behavior EgoBehavior(EGO_SPEED)
 
-require (distance to intersection) > 80
+require (distance to intersection) > 50
 terminate when ego.speed < 0.1 and (distance to obstacle) < 30
diff --git a/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic b/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 # CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 10
 BRAKE_INTENSITY = 1.0
@@ -36,8 +36,15 @@ behavior PedestrianBehavior(min_speed=1, threshold=10):
 # Please refer to scenic/domains/driving/roads.py how to access detailed road infrastructure
 # 'network' is the 'class Network' object in roads.py 
 
-# make sure to put '*' to uniformly randomly select from all elements of the list, 'network.lanes'
-lane = Uniform(*network.lanes)
+# collect all the curb-side lanes
+curbLanes = [
+  lg.lanes[0]
+  for lg in network.laneGroups
+  if lg is lg.road.forwardLanes
+]
+
+# make sure to put '*' to uniformly randomly select from all elements of the list
+lane = Uniform(*curbLanes)
 
 spot = new OrientedPoint on lane.centerline
 vending_spot = new OrientedPoint following roadDirection from spot for -3

diff --git a/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic b/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 EGO_SPEED = 10
 EGO_BRAKING_THRESHOLD = 12
 

diff --git a/examples/carla/Carla_Challenge/carlaChallenge4.scenic b/examples/carla/Carla_Challenge/carlaChallenge4.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 BICYCLE_MIN_SPEED = 1.5
 THRESHOLD = 18
 BRAKE_ACTION = 1.0

diff --git a/examples/carla/Carla_Challenge/carlaChallenge5.scenic b/examples/carla/Carla_Challenge/carlaChallenge5.scenic
@@ -5,8 +5,8 @@ Ego-vehicle performs a lane changing to evade a leading vehicle, which is moving
 To run this file using the Carla simulator:
     scenic examples/carla/Carla_Challenge/carlaChallenge5.scenic --2d --model scenic.simulators.carla.model --simulate
 """
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #CONSTANTS

diff --git a/examples/carla/Carla_Challenge/carlaChallenge6.scenic b/examples/carla/Carla_Challenge/carlaChallenge6.scenic
@@ -9,8 +9,8 @@ To run this file using the Carla simulator:
 
 # N.B. Town07 is not included with CARLA by default; see installation instructions at
 # https://carla.readthedocs.io/en/latest/start_quickstart/#import-additional-assets
-param map = localPath('../../../assets/maps/CARLA/Town07.xodr')
-param carla_map = 'Town07'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 

diff --git a/examples/carla/Carla_Challenge/carlaChallenge7.scenic b/examples/carla/Carla_Challenge/carlaChallenge7.scenic
@@ -7,8 +7,8 @@ Note: The traffic light control is not implemented yet, but it will soon be.
 To run this file using the Carla simulator:
     scenic examples/carla/Carla_Challenge/carlaChallenge7.scenic --2d --model scenic.simulators.carla.model --simulate
 """
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 DELAY_TIME_1 = 1 # the delay time for ego

diff --git a/examples/carla/Carla_Challenge/carlaChallenge8.scenic b/examples/carla/Carla_Challenge/carlaChallenge8.scenic
@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.nissan.patrol"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 20
 BRAKE_INTENSITY = 1.0
@@ -78,7 +78,6 @@ ego = new Car at ego_spawn_pt,
 adversary = new Car at adv_spawn_pt,
     with behavior AdversaryBehavior(adv_trajectory)
 
-require (ego_start_section.laneToLeft == adv_end_section)  # make sure the ego and adversary are spawned in opposite lanes
-require 25 <= (distance to intersec) <= 30
+require 10 <= (distance to intersec) <= 30
 require 15 <= (distance from adversary to intersec) <= 20
 terminate when (distance to ego_spawn_pt) > 70
diff --git a/examples/carla/Carla_Challenge/carlaChallenge9.scenic b/examples/carla/Carla_Challenge/carlaChallenge9.scenic
@@ -5,8 +5,8 @@ Ego-vehicle is performing a right turn at an intersection, yielding to crossing
 To run this file using the Carla simulator:
     scenic examples/carla/Carla_Challenge/carlaChallenge9.scenic --2d --model scenic.simulators.carla.model --simulate
 """
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 DELAY_TIME_1 = 1 # the delay time for ego

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic
@@ -13,15 +13,15 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
 param EGO_SPEED = VerifaiRange(7, 10)
 

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic
@@ -13,15 +13,15 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
 param EGO_SPEED = VerifaiRange(2, 4)
 

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic
@@ -15,15 +15,15 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
 param EGO_SPEED = VerifaiRange(7, 10)
 param EGO_BRAKE = VerifaiRange(0.7, 1.0)

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic
@@ -13,15 +13,15 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
 param EGO_SPEED = VerifaiRange(6, 8)
 

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic
@@ -13,15 +13,15 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
 param EGO_SPEED = VerifaiRange(7, 10)
 param EGO_BRAKE = VerifaiRange(0.5, 1.0)

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic
@@ -14,26 +14,26 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
-EGO_INIT_DIST = [20, 25]
-param EGO_SPEED = VerifaiRange(7, 10)
+EGO_INIT_DIST = [10, 15]
+param EGO_SPEED = VerifaiRange(4, 6)
 param EGO_BRAKE = VerifaiRange(0.5, 1.0)
 
-ADV_INIT_DIST = [15, 20]
-param ADV_SPEED = VerifaiRange(7, 10)
+ADV_INIT_DIST = [10, 15]
+param ADV_SPEED = VerifaiRange(8, 10)
 
 param SAFETY_DIST = VerifaiRange(10, 20)
 CRASH_DIST = 5
-TERM_DIST = 70
+TERM_DIST = 35
 
 #################################
 # AGENT BEHAVIORS               #