Menu Settings

This page lists each value that you can change in the front-end menu. The menu shows the values in the units of this page.

Generated The source is the parameter table in Acres/Source/Acres/AcresSession.cpp and the configuration files in Acres/Content/Simulation. Run mkdocs build to generate this page again.

The prefix of an id shows where the value is stored.

Prefix	Location
env:	environment.json
sen:	sensors.json
trac:	tractor.json
flag:, npc:	a command-line option of the session
opt:	the optimizer only

Sensors

Camera

Name	Id	Type	Unit	Default	Range	Description
Front Camera	sen:camera.enabled	toggle		on	on, off	Front RGB camera; default output 896 × 512 at 10 Hz, matching Polaris
Frame Rate	sen:camera.hz	number	Hz	10	1 to 30	Default 10 Hz; increase up to 30 Hz at additional rendering cost. Applies when sen:camera.enabled is on.
Warm-Up Frames	sen:camera.warmup_frames	number		2	0 to 16	Renders before each capture so lighting settles; 0 = render every frame (slow). Applies when sen:camera.enabled is on.
Width	sen:camera.width	number	px	896	320 to 3840	Default 896 px; higher resolution costs GPU time. Applies when sen:camera.enabled is on.
Height	sen:camera.height	number	px	512	240 to 2160	Default 512 px; increase with width to preserve aspect ratio. Applies when sen:camera.enabled is on.
Horizontal Field of View	sen:camera.hfov_deg	number	°	90	30 to 150	Pinhole FOV before lens distortion. Applies when sen:camera.enabled is on.
Exposure	sen:camera.exposure.mode	choice		volume	volume Auto (Scene) physical Manual (ISO/shutter/f-stop)	Applies when sen:camera.enabled is on.
ISO	sen:camera.exposure.iso	number		100	50 to 6400	Applies when sen:camera.exposure.mode=physical.
Shutter	sen:camera.exposure.shutter_s	number	ms	3	0.05 to 100	Applies when sen:camera.exposure.mode=physical.
Aperture	sen:camera.exposure.fstop	number	f/	8	1.4 to 22	Applies when sen:camera.exposure.mode=physical.
Sensor Noise	sen:camera.photometric.noise	toggle		on	on, off	Shot, read and dark noise, 12-bit ADC. Applies when sen:camera.enabled is on.
Lens Distortion	sen:camera.lens.enabled	toggle		on	on, off	Brown-Conrady barrel distortion, vignetting. Applies when sen:camera.enabled is on.
Rolling Shutter	sen:camera.rolling_shutter.enabled	toggle		on	on, off	Applies when sen:camera.enabled is on.
Readout Time	sen:camera.rolling_shutter.readout_s	number	ms	25	1 to 60	Applies when sen:camera.rolling_shutter.enabled is on.

LiDAR

Name	Id	Type	Unit	Default	Range	Description
LiDAR	sen:lidar.enabled	toggle		on	on, off	GPU ray-traced spinning LiDAR on the cab roof
Scan Rate	sen:lidar.hz	number	Hz	10	1 to 20	Applies when sen:lidar.enabled is on.
Channels (Rings)	sen:lidar.rings	number		8	1 to 128	Applies when sen:lidar.enabled is on.
Points per Ring	sen:lidar.columns	number		180	90 to 2048	Applies when sen:lidar.enabled is on.
Maximum Range	sen:lidar.range_m	number	m	60	10 to 250	Applies when sen:lidar.enabled is on.
Lowest Beam	sen:lidar.elevation_min_deg	number	°	-20	-45 to 0	Applies when sen:lidar.enabled is on.
Highest Beam	sen:lidar.elevation_max_deg	number	°	10	0 to 45	Applies when sen:lidar.enabled is on.
Range Noise	sen:lidar.std_m	number	cm	2	0 to 10	Applies when sen:lidar.enabled is on.
Returns	sen:lidar.return_mode	choice		dual_strongest_last	`TEXT(
"strongestStrongest<br>lastLast<br>firstFirst<br>dual_strongest_lastDual (Strongest + Last)<br>dual_first_lastDual (First + Last)<br>tripleTriple") | Applies whensen:lidar.enabled` is on.

GNSS

Name	Id	Type	Unit	Default	Range	Description
GNSS Receiver	sen:gnss.enabled	toggle		on	on, off	RTK receiver, WGS84 output
Rate	sen:gnss.hz	number	Hz	10	1 to 20	Applies when sen:gnss.enabled is on.
Receiver Start	sen:gnss.start	choice		converged	converged Already Fixed cold Cold Start	Applies when sen:gnss.enabled is on.
Elevation Mask	sen:gnss.elevation_mask_deg	number	°	10	0 to 30	Applies when sen:gnss.enabled is on.
RTK Correction Age Limit	sen:gnss.corrections.rtk_max_age_s	number	s	10	1 to 60	Applies when sen:gnss.enabled is on.
Use Galileo	sen:gnss.constellations.galileo	toggle		on	on, off	Applies when sen:gnss.enabled is on.
Use GLONASS	sen:gnss.constellations.glonass	toggle		on	on, off	Applies when sen:gnss.enabled is on.

IMU

Name	Id	Type	Unit	Default	Range	Description
IMU	sen:imu.enabled	toggle		on	on, off
Rate	sen:imu.hz	number	Hz	120	10 to 120	Sampled on the 120 Hz physics step. Applies when sen:imu.enabled is on.
Accelerometer Noise	sen:imu.accel_std_mps2	number	m/s²	0.03	0 to 0.5	Applies when sen:imu.enabled is on.
Gyro Noise	sen:imu.gyro_std_radps	number	mrad/s	2	0 to 20	Applies when sen:imu.enabled is on.

CAN

Name	Id	Type	Unit	Default	Range	Description
CAN Bus	sen:can.enabled	toggle		on	on, off	J1939-style engine and control frames
Rate	sen:can.hz	number	Hz	20	1 to 100	Applies when sen:can.enabled is on.

Recording

Name	Id	Type	Unit	Default	Range	Description
Delivery Latency	sen:delay_s	number	ms	50	0 to 500	Time between sampling and availability
Noise Seed	sen:seed	number		42	0 to 999999	Same seed reproduces the same noise

Weather

Temperature

Name	Id	Type	Unit	Default	Range	Description
Daily Low	env:temperature.low_c	number	°C	16	-30 to 40	Reached around sunrise
Daily High	env:temperature.high_c	number	°C	28	-20 to 48	Reached mid-afternoon
Day-to-Day Variation	env:temperature.day_to_day_sigma_c	number	°C	1.2	0 to 6	Random shift of following days' low/high

Wind

Name	Id	Type	Unit	Default	Range	Description
Mean Wind Speed	env:wind.speed_mps	number	km/h	12.6	0 to 100	At 10 m; gusts, lulls and direction wander are simulated
Wind Direction	env:wind.from_deg	number	°	225	0 to 359	Where the wind blows from: 0 = north, 90 = east
Gustiness	env:wind.turbulence_intensity	number		0.2	0 to 0.6	Turbulence intensity; 0.2 typical over farmland

Sky

Name	Id	Type	Unit	Default	Range	Description
Clouds	env:clouds	choice		fair	clear Clear fair Fair-Weather Cumulus partly Partly Cloudy overcast Overcast	Clouds build before rain and clear after it
Fog	env:fog.mode	choice		auto	auto Automatic (Radiation Fog) off Off fixed Fixed Visibility
Visibility	env:fog.visibility_m	number	m	800	30 to 10000	Applies when env:fog.mode=fixed.

Rain

Name	Id	Type	Unit	Default	Range	Description
Rain	env:rain.enabled	toggle		off	on, off
Start Hour	env:rain.start_hour	number	h	15	0 to 72	Hours after midnight of the start day (26 = 02:00 next day). Applies when env:rain.enabled is on.
End Hour	env:rain.end_hour	number	h	16	0 to 72	Applies when env:rain.enabled is on.
Rain Amount	env:rain.total_mm	number	mm	10	0 to 300	Front-loaded convective storm shape. Applies when env:rain.enabled is on.
Earlier Rain (Already Fallen)	env:rain.prior_mm	number	mm	0	0 to 300	Wets soil and fills puddles before the start
Earlier Rain Duration	env:rain.prior_hours	number	h	12	1 to 240

Vehicle

Vehicle

Name	Id	Type	Unit	Default	Range	Description
Vehicle	flag:vehicle	choice		maxxum	maxxum Case IH Maxxum 150 (Tractor Tab) polaris Polaris Ranger CREW XP 1000 (DBW) `"
"both` Both (Maxxum and Polaris, Multi-Agent)	The Polaris is the Purdue vehicle: fitted drive-by-wire, Helios LiDAR, Reolink camera and OxTS INS; F2 "
"switches between the vehicles of a multi-agent session
Polaris Finish	flag:polaris_finish	choice		graphite	graphite Graphite / Orange forest_green Forest Green / Bronze desert_tan Desert Tan / Charcoal `"
"deep_blueDeep Blue / Silver | Paint of the Polaris mesh (the same vehicle and physics). Applies whenflag:vehicle!=maxxum`.
Start Position	flag:spawn_at	choice		spawn-icsc-garage	spawn-icsc-garage ICSC Garage spawn-beck-lot Beck's Parking Lot	Where the vehicle starts (named places of places.json); a replay in path mode starts on its first logged "
"pose

Tractor

Chassis

Name	Id	Type	Unit	Default	Range	Description
Operating Mass	trac:vehicle.mass_kg	number	kg	5820	2500 to 14000	With fuel, operator and ballast
Centre of Gravity Height	trac:vehicle.cg_height_m	number	m	1.1	0.5 to 1.8
CG Ahead of Wheelbase Centre	trac:vehicle.cg_forward_m	number	m	0	-1 to 1	Front ballast moves it forward
Wheelbase	trac:vehicle.wheelbase_m	number	m	2.642	1.8 to 3.6
Track Width	trac:vehicle.track_m	number	m	1.9	1.3 to 2.6

Tyres

Name	Id	Type	Unit	Default	Range	Description
Front Tyre Radius	trac:vehicle.front_radius_m	number	m	0.7066	0.35 to 1
Rear Tyre Radius	trac:vehicle.rear_radius_m	number	m	0.9051	0.5 to 1.2
Front Tyre Width	trac:vehicle.front_width_m	number	m	0.54	0.2 to 0.9
Rear Tyre Width	trac:vehicle.rear_width_m	number	m	0.65	0.25 to 1

Engine

Name	Id	Type	Unit	Default	Range	Description
Rated Power	trac:vehicle.rated_power_kw	number	kW	110.3	30 to 400	150 hp = 110 kW
Maximum Power	trac:vehicle.max_power_kw	number	kW	116.2	30 to 450	Power bulge below rated speed
Peak Torque	trac:vehicle.peak_torque_nm	number	N·m	700	200 to 2500
Idle Speed	trac:vehicle.idle_rpm	number	rpm	800	500 to 1100
Maximum Engine Speed	trac:vehicle.max_rpm	number	rpm	2300	1600 to 3200
Power Boost	trac:vehicle.boost_enabled	toggle		off	on, off	Extra power in transport/PTO work

Drivetrain

Name	Id	Type	Unit	Default	Range	Description
Top Speed	trac:vehicle.max_speed_mps	number	km/h	40.23	10 to 60	Gear ratios are rescaled to reach it at max rpm
Front-Wheel Assist (MFD)	trac:vehicle.front_drive	toggle		on	on, off
Front-Wheel Lead	trac:vehicle.front_lead_ratio	number	%	1.5	0 to 5	Front tyres roll this much faster than the rear (typical 1–5 %); L key locks the differentials. Applies when trac:vehicle.front_drive is on.
Starting Gear	trac:vehicle.initial_gear	number		10	1 to 16
Clutch Torque Capacity	trac:vehicle.clutch_capacity_nm	number	N·m	900	200 to 3000
Driveline Efficiency	trac:vehicle.efficiency	number		0.9	0.7 to 0.98

Steering

Name	Id	Type	Unit	Default	Range	Description
Maximum Steering Angle	trac:vehicle.max_steer_rad	number	°	38	15 to 60	Ackermann inner-wheel lock
Steering Rate	trac:vehicle.steer_rate_rad_s	number	°/s	40	10 to 120

Tractor

Name	Id	Type	Unit	Default	Range	Description
Tractor	trac:vehicle.model	choice		maxxum_150	`TEXT(
"maxxum_150Case IH Maxxum 150 (Implement Model)<br>legacy` Legacy Tractor (ASABE Implements)")	The Maxxum with its eight implements, or the earlier static-mesh tractor kept for regression runs

Implement

Name	Id	Type	Unit	Default	Range	Description
Implement	trac:implement_model.id	choice		none	none None cultivator Cultivator (9 Tines, 2.7 m) chisel_plow Chisel Plow (9 Shanks, 2.7 m) disc_harrow Disc "
"Harrow (24 Discs, 3 m) seed_drill Seed Drill (15 Rows, 3 m) mounted_sprayer Mounted Sprayer (800 L, 12 m) `"
"loader_bale_forkFront Loader and Bale Fork<br>backhoe_attachmentBackhoe<br>square_baler` Large Square Baler "
"(Trailed, 1000 rpm PTO)	Soil forces, hitch control, PTO and hydraulic loads from the implement model; keys under Tab. Applies when trac:vehicle.model=maxxum_150.
Working Depth	trac:implement_model.working_depth_m	number	cm	15	0 to 30	Tine point or disc depth on firm level ground (design: cultivator 12, chisel 20, harrow 10 cm); tines "
"reach 27.9 cm, the harrow 22.9 cm; the depth limit in draft control. Applies when trac:implement_model.id=cultivator\|chisel_plow\|disc_harrow.
Hitch Control	trac:implement_model.hitch_mode	choice		auto	auto Implement Default position Position draft Draft (EHC) float Float	Default: tines in position control, harrow and drill floating on roller / wheels. Applies when trac:implement_model.id=cultivator\|chisel_plow\|disc_harrow\|seed_drill\|mounted_sprayer.
Draft Set-Point	trac:implement_model.draft_setpoint_n	number	kN	15	1 to 60	Draft control raises the hitch to hold this lower-link draft; the working depth is the limit. Applies when trac:implement_model.hitch_mode=draft.
Application Rate	trac:implement_model.spray_rate_l_ha	number	L/ha	150	40 to 600	24 ISO 03 nozzles at 0.5 m: 1–5 bar reaches about 90–200 L/ha at 8 km/h. Applies when trac:implement_model.id=mounted_sprayer.
Boom Lift	trac:implement_model.boom_lift_m	number	m	0.5	0 to 0.6	Applies when trac:implement_model.id=mounted_sprayer.
Seeding Rate	trac:implement_model.seed_rate_kg_ha	number	kg/ha	150	2 to 400	Fluted meter driven by the ground wheel; 150 kg/ha is a wheat rate. Applies when trac:implement_model.id=seed_drill.
Windrow Density	trac:implement_model.windrow_kg_m	number	kg/m	3	0 to 12	Hay per metre of windrow; the pickup takes at most 12 kg/s. Applies when trac:implement_model.id=square_baler.
Round Bale Mass	trac:implement_model.bale_mass_kg	number	kg	450	50 to 1200	The bale the fork picks up (G); the loader is rated for 1.2 t. Applies when trac:implement_model.id=loader_bale_fork.
Legacy Implement	flag:implement	choice		none	none None mounted Mounted (3-Point Hitch) trailed Trailed	The legacy tractor's ASABE D497.7 / custom-draft implement. Applies when trac:vehicle.model=legacy.
Implement Mass	trac:implement.empty_mass_kg	number	kg	1200	50 to 8000	Applies when flag:implement!=none.
Payload	trac:implement.payload_kg	number	kg	0	0 to 8000	Applies when flag:implement!=none.
Rated Payload	trac:implement.rated_payload_kg	number	kg	2000	0 to 8000	Applies when flag:implement!=none.
Legacy / Harvester Type (ASABE)	trac:implement.type	choice		custom	`TEXT(
"customCustom (Reference Draft)<br>chiselChisel Plow<br>cultivatorField Cultivator<br>diskTandem Disk Harrow<br>moldboardMoldboard Plow<br>planterRow-Crop Planter<br>potato_digger` 2-Row Potato Digger")	TEXT(
"Live draft from ASABE D497.7 at the current speed, depth and soil; with the harvester, the potato digger digs "
"potatoes instead of the 3 m cutter")
Working Width	trac:implement.width_m	number	m	3	1 to 12	Tools or rows = width / spacing; the potato digger is fixed at 1.8 m (2 rows). Applies when trac:implement.type!=custom.
Working Depth	trac:implement.depth_cm	number	cm	18	0 to 40	Tillage tools and the digger; planters ignore it. Applies when trac:implement.type!=custom.
Soil Texture (Draft)	trac:implement.soil_texture	choice		auto	auto From the Soil Map fine Fine (Clay) medium Medium (Loam) coarse Coarse (Sandy)	ASABE F1/F2/F3 texture factor; 'From the Soil Map' reads the soil under the tool. Applies when trac:implement.type!=custom.
Reference Draft (Pull)	trac:implement.draft_n	number	kN	0	0 to 80	Custom implement: draft at 8 km/h, rising 6 % per km/h like a tillage tool; 0 for transport. Applies when trac:implement.type=custom.
Hitch behind Rear Axle	trac:implement.hitch_overhang_m	number	m	0.6	0.2 to 2.5	Applies when flag:implement!=none.
Harvester (H Key)	flag:harvester	toggle		0	on, off	3 m offset cutter with 600 kg bunker; with the type '2-Row Potato Digger', a 1.8 m 2-row digger with a "
"1.5 t tuber hopper

Optimize

Scenario

Name	Id	Type	Unit	Default	Range	Description
Scenario	opt:scenario	choice		`TEXT(
"plan|TEXT(
"planField Operation Plan (Order, Route, Time, Fuel)<br>tractionTraction and Fuel Setup (Ballast, Gear, Speed)<br>harvest` Harvest Timing against Rain")
Fields	opt:fields	choice		all	all Planted and Empty Fields planted Planted Fields empty Empty Fields	Harvest timing always uses the planted fields. Applies when opt:scenario!=harvest.

Operation

Name	Id	Type	Unit	Default	Range	Description
Field Operation	opt:operation	choice		`TEXT(
"chisel|TEXT(
"chiselChisel Plow (Maxxum 2.7 m)<br>cultivatorField Cultivator (Maxxum 2.7 m)<br>diskDisc Harrow (Maxxum 3 m)<br>moldboardMoldboard Plow (Legacy, ASABE)<br>planterSeed Drill (Maxxum 3 m)<br>harvestHarvest (3 m Cutter, 2-Row Potato Digger)") | Draft from the Maxxum implement model; the moldboard plow and digger from ASABE D497.7. Applies whenopt:scenario!=harvest`.
Working Width	opt:width_m	number	m	3	1.5 to 12	Moldboard plow only; the Maxxum implements, the cutter (3 m) and the digger (1.8 m) have their own widths. Applies when opt:operation=moldboard.
Working Depth	opt:depth_cm	number	cm	18	5 to 35	Tillage tools only. Applies when opt:operation!=harvest.

Setup Search

Name	Id	Type	Unit	Default	Range	Description
Ballast Available	opt:ballast_max_kg	number	kg	1500	0 to 3000	Searched in 250 kg steps (45 % front)
Minimum Wheel Slip	opt:slip_min_pct	number	%	8	2 to 25	The search keeps slip in this band; 8–15 % is the usual efficient band
Maximum Wheel Slip	opt:slip_max_pct	number	%	15	4 to 30
Maximum Field Speed	opt:speed_max_kmh	number	km/h	12	3 to 15

Costs

Name	Id	Type	Unit	Default	Range	Description
Diesel Price	opt:fuel_price	number	$/L	1	0 to 5
Operator + Machine Cost	opt:hourly_cost	number	$/h	60	0 to 500	Traction setup minimizes fuel + time cost per hectare

Harvest

Name	Id	Type	Unit	Default	Range	Description
Planning Horizon	opt:horizon_days	number	days	7	1 to 14	Hourly weather from the Weather tab scenario. Applies when opt:scenario=harvest.
Corn Grain Moisture Now	opt:corn_moisture_pct	number	%	21	12 to 35	Wet basis. Applies when opt:scenario=harvest.
Soybean Moisture Now	opt:soy_moisture_pct	number	%	14	8 to 25	Applies when opt:scenario=harvest.
Corn Target Moisture	opt:corn_target_pct	number	%	22	14 to 30	Harvest at or below this; drying shrink counted above 15.5 %. Applies when opt:scenario=harvest.
Soybean Target Moisture	opt:soy_target_pct	number	%	13	10 to 18	Harvest at or below this; drying shrink counted above 13 %. Applies when opt:scenario=harvest.
Work Start	opt:work_start_h	number	h	7	0 to 23	Local time. Applies when opt:scenario=harvest.
Work End	opt:work_end_h	number	h	20	1 to 24	Applies when opt:scenario=harvest.

NPC

Traffic and People

Name	Id	Type	Unit	Default	Range	Description
Vehicles and Working Tractors	npc:vehicles	toggle		0	on, off	Pickups on roads, tractors working fields
Walking Farm Workers	npc:workers	toggle		0	on, off

Additional

Clock

Name	Id	Type	Unit	Default	Range	Description
Year	env:clock.year	number		2026	1990 to 2100
Month	env:clock.month	number		7	1 to 12
Day	env:clock.day	number		15	1 to 31
Start Time	env:clock.start_hour_local	number	h	10	0 to 23.75	Local time (EDT); 6.5 = 06:30
Real Seconds per Game Hour	env:clock.seconds_per_game_minute	number	s	3600	6 to 36000	3600 = real time; 60 = one game hour per real minute

Map and Crops

Name	Id	Type	Unit	Default	Range	Description
Crop Season	flag:crop_season	choice		2026	2026 2026 Crop Map legacy Legacy (Corn on Unassigned Fields)	Crop per field from the 2026 map (Sentinel-2 classifier and the Polaris camera); low-confidence fields keep "
"the default
Crop Stage	flag:crop_stage	choice		mature	mature Mature (Ready to Harvest) date From Planting Date to the Clock Date	Degree days since each field's planting date, from the ACRE weather station's temperatures. Applies when flag:crop_season=2026.
Ground Map	flag:acre_map	choice		layer	layer Surveyed Lanes, Roads and Yards	The surveyed layer sets what the wheels feel and what the ground shows, at the measured edges

Graphics

Name	Id	Type	Unit	Default	Range	Description
Render Quality	flag:render_tier	choice		auto	auto Automatic (from GPU Memory) low Low (6 GB GPU) high High (12 GB GPU or More)	Main-view quality and speed; the sensors keep one calibrated render profile at both levels (on low, a "
"labelled reduced one when a camera records)

Randomness

Name	Id	Type	Unit	Default	Range	Description
Weather Seed	env:seed	number		42	0 to 999999	Same seed reproduces gusts, cloud and temperature noise