OpenScenarioXML Export

docs/api.rst

@@ -173,6 +173,15 @@ it to the replay, but this greatly increases the size of the encoded simulation.
 	can return to one later for further analysis), but it is not guaranteed to be
 	compatible across major versions of Scenic.
 
+.. _xosc_export:
+
+OpenScenarioXML Export
+----------------------
+
+Scenic provides experimental support for exporting completed simulations via `toOpenScenario`.
+This function currently only supports cars and pedestrians, and may be subject to breaking changes
+in the future.
+
 .. seealso:: If you get exceptions or unexpected behavior when using the API, Scenic provides various debugging features: see :ref:`debugging`.
 
 .. rubric:: Footnotes

docs/simulators.rst

@@ -14,6 +14,10 @@ See the individual entries for details on each interface's capabilities and how
 	While Scenic aims to support multiple Python versions, some simulators may have more limited compatibility.
 	Be sure to check the documentation of each simulator to confirm which Python versions are supported.
 
+.. note::
+	Scenic also supports outputing data in formats that may be imported into other simulators and tools (e.g. :ref:`xosc_export`).
+	For more details, see :ref:`serialization`.
+
 .. contents:: List of Simulators
    :local:
 
@@ -163,7 +167,6 @@ This interface is part of the VerifAI toolkit; documentation and examples can be
 
 .. _VerifAI repository: https://github.com/BerkeleyLearnVerify/VerifAI
 
-
 Deprecated
 ==========
 

pyproject.toml

@@ -60,6 +60,9 @@ metadrive = [
 	"metadrive-simulator >= 0.4.3",
 	"sumolib >= 1.21.0",
 ]
+openscenario = [
+	"scenariogeneration"
+]
 test = [	# minimum dependencies for running tests (used for tox virtualenvs)
 	"pytest >= 7.0.0",
 	"pytest-cov >= 3.0.0",
@@ -68,6 +71,7 @@ test = [	# minimum dependencies for running tests (used for tox virtualenvs)
 test-full = [  # like 'test' but adds dependencies for optional features
 	"scenic[test]",       # all dependencies from 'test' extra above
 	"scenic[guideways]",  # for running guideways modules
+	"scenic[openscenario]",
 	"astor >= 0.8.1",
 	'carla >= 0.9.12; python_version <= "3.12" and (platform_system == "Linux" or platform_system == "Windows")',
 	"dill",

src/scenic/core/serialization.py

@@ -8,9 +8,11 @@
 import hashlib
 import io
 import math
+import os
 import pickle
 import struct
 import types
+import warnings
 
 from scenic.core.distributions import Samplable, needsSampling
 from scenic.core.utils import DefaultIdentityDict

src/scenic/core/simulators.py

@@ -807,11 +807,28 @@ def currentState(self):
         """Return the current state of the simulation.
 
         The definition of 'state' is up to the simulator; the 'state' is simply saved
-        at each time step to define the 'trajectory' of the simulation.
-
-        The default implementation returns a tuple of the positions of all objects.
+        at each time step to define the 'trajectory' of the simulation. Changing this
+        method is however discouraged, unless one is adding additional attributes to
+        the returned ``SimulationState`` object.
+
+        The default implementation returns a custom ``SimulationState`` object, which is a tuple
+        of positions of all objects (for backwards compatibility) and also has two attributes:
+        ``positions`` and ``orientations``, which are themselves tuples of the positions and
+        orientations of all objects.
         """
-        return tuple(obj.position for obj in self.objects)
+
+        class SimulationState(tuple):
+            def __new__(cls, positions, orientations):
+                return super().__new__(cls, positions)
+
+            def __init__(self, positions, orientations):
+                self.positions = positions
+                self.orientations = orientations
+
+        positions = tuple(obj.position for obj in self.objects)
+        orientation = tuple(obj.orientation for obj in self.objects)
+
+        return SimulationState(positions, orientation)
 
     @property
     def currentRealTime(self):

src/scenic/domains/driving/model.scenic

@@ -134,6 +134,10 @@ class DrivingObject:
     def isVehicle(self):
         return False
 
+    @property
+    def isPedestrian(self):
+        return False
+
     @property
     def isCar(self):
         return False
@@ -282,6 +286,25 @@ class Vehicle(DrivingObject):
         color (:obj:`Color` or RGB tuple): Color of the vehicle. The default value is a
             distribution derived from car color popularity statistics; see
             :obj:`Color.defaultCarColor`.
+        wheelbase: The distance between the front and rear axles of the vehicle. Default value is 0.6
+            times the length of the vehicle.
+        maxSteeringAngle: The maximum steering angle of the vehicle. The full steering range would be
+            two times this value, going from (-maxSteeringAngle, maxSteeringAngle). Default value
+            35 degrees.
+        wheelDiameter: The diameter of the *entire* wheel (including the tire). Default value is 0.7 meters.
+        trackWidth: Distance between the vehicle's wheels when pointed straight ahead. Default value
+            is 0.85 times the width of the vehicle.
+        groundClearance: The distance between the bottom of the vehicle's chassis and the ground. Default
+            value is half the wheel diameter.
+        maxSpeed: The maximum rated speed of the vehicle. Default value is 45 meters per second (~100 mph).
+            This value is not enforced by Scenic and is provided simply for other tools to reference (e.g.
+            exporting to OpenScenarioXML).
+        maxAcceleration: The maximum rated acceleration of the vehicle. Default value is 5 meters per second^2.
+            This value is not enforced by Scenic and is provided simply for other tools to reference (e.g.
+            exporting to OpenScenarioXML).
+        maxDeceleration: The maximum rated deceleration of the vehicle. Default value is 10 meters per second^2.
+            This value is not enforced by Scenic and is provided simply for other tools to reference (e.g.
+            exporting to OpenScenarioXML).
     """
     regionContainedIn: roadOrShoulder
     position: new Point on road
@@ -291,6 +314,14 @@ class Vehicle(DrivingObject):
     width: 2
     length: 4.5
     color: Color.defaultCarColor()
+    wheelbase: 0.6*self.length
+    maxSteeringAngle: 35 deg
+    wheelDiameter: 0.7
+    trackWidth: 0.85*self.width
+    groundClearance: 0.5*self.wheelDiameter
+    maxSpeed: 45
+    maxAcceleration: 5
+    maxDeceleration: 10
 
     @property
     def isVehicle(self):
@@ -317,6 +348,7 @@ class Pedestrian(DrivingObject):
         length: The default length is 0.75 m.
         color: The default color is turquoise. Pedestrian colors are not necessarily
             used by simulators, but do appear in the debugging diagram.
+        mass: Default value is 65 kg.
     """
     regionContainedIn: network.walkableRegion
     position: new Point on network.walkableRegion
@@ -325,6 +357,11 @@ class Pedestrian(DrivingObject):
     width: 0.75
     length: 0.75
     color: [0, 0.5, 1]
+    mass: 65
+
+    @property
+    def isPedestrian(self):
+        return True
 
 ## Stub sensor implementations