From e8492044024c063647d777e0df1f77cfe3cff459 Mon Sep 17 00:00:00 2001 From: Lola Marrero Date: Mon, 20 Oct 2025 16:36:23 -0700 Subject: [PATCH 1/5] get CARLA blueprints dynamically --- src/scenic/simulators/carla/blueprints.py | 1893 +++++++++++++++--- src/scenic/simulators/carla/model.scenic | 107 +- tests/simulators/carla/test_blueprints.py | 125 +- tools/carla/README.md | 23 + tools/carla/make_blueprints.py | 143 ++ tools/carla/snapshot_blueprints.py | 256 +++ tools/carla/snapshots/blueprints_0.10.0.json | 656 ++++++ tools/carla/snapshots/blueprints_0.9.15.json | 1003 ++++++++++ 8 files changed, 3864 insertions(+), 342 deletions(-) create mode 100644 tools/carla/README.md create mode 100644 tools/carla/make_blueprints.py create mode 100644 tools/carla/snapshot_blueprints.py create mode 100644 tools/carla/snapshots/blueprints_0.10.0.json create mode 100644 tools/carla/snapshots/blueprints_0.9.15.json diff --git a/src/scenic/simulators/carla/blueprints.py b/src/scenic/simulators/carla/blueprints.py index 1293b1b4e..0acaff708 100644 --- a/src/scenic/simulators/carla/blueprints.py +++ b/src/scenic/simulators/carla/blueprints.py @@ -1,9 +1,43 @@ +# AUTO-GENERATED. Do not edit by hand. +# Built from tools/carla/make_blueprints.py + """CARLA blueprints for cars, pedestrians, etc.""" -#: Mapping from current names of blueprints to ones in old CARLA versions. -#: -#: We provide a tuple of old names in case they change more than once. +from importlib.metadata import PackageNotFoundError, version as _pkg_version + +from scenic.core.errors import InvalidScenarioError + +try: + _CARLA_VER = _pkg_version("carla") +except PackageNotFoundError: + _CARLA_VER = "0.0.0" # no carla package; default to newest known blueprints + + +def _verkey(s: str): + # Handle '0.9.15', '0.10.0', '1.2' -> (major, minor, patch) + parts = [int(p) for p in s.split(".")] + parts += [0] * (3 - len(parts)) + return tuple(parts[:3]) + + +def _pick(vermap, ver): + """Choose the blueprint map for CARLA version""" + # 1) Exact match + if ver in vermap: + return vermap[ver] + # 2) If same major.minor, use the newest patch. + mm = ".".join(ver.split(".")[:2]) + cands = [v for v in vermap if v.startswith(mm + ".")] + if cands: + best = max(cands, key=_verkey) + return vermap[best] + # 3) Otherwise, use the newest version. + best = max(vermap.keys(), key=_verkey) + return vermap[best] + + oldBlueprintNames = { + # Map current names to legacy names "vehicle.dodge.charger_police": ("vehicle.dodge_charger.police",), "vehicle.lincoln.mkz_2017": ("vehicle.lincoln.mkz2017",), "vehicle.mercedes.coupe": ("vehicle.mercedes-benz.coupe",), @@ -11,223 +45,1636 @@ "vehicle.ford.mustang": ("vehicle.mustang.mustang",), } -## Vehicle blueprints - -#: blueprints for cars -carModels = [ - "vehicle.audi.a2", - "vehicle.audi.etron", - "vehicle.audi.tt", - "vehicle.bmw.grandtourer", - "vehicle.chevrolet.impala", - "vehicle.citroen.c3", - "vehicle.dodge.charger_police", - "vehicle.jeep.wrangler_rubicon", - "vehicle.lincoln.mkz_2017", - "vehicle.mercedes.coupe", - "vehicle.mini.cooper_s", - "vehicle.ford.mustang", - "vehicle.nissan.micra", - "vehicle.nissan.patrol", - "vehicle.seat.leon", - "vehicle.tesla.model3", - "vehicle.toyota.prius", - "vehicle.volkswagen.t2", -] - -#: blueprints for bicycles -bicycleModels = [ - "vehicle.bh.crossbike", - "vehicle.diamondback.century", - "vehicle.gazelle.omafiets", -] - -#: blueprints for motorcycles -motorcycleModels = [ - "vehicle.harley-davidson.low_rider", - "vehicle.kawasaki.ninja", - "vehicle.yamaha.yzf", -] - -#: blueprints for trucks -truckModels = [ - "vehicle.carlamotors.carlacola", - "vehicle.tesla.cybertruck", -] - -## Prop blueprints - -#: blueprints for trash cans -trashModels = [ - "static.prop.trashcan01", - "static.prop.trashcan02", - "static.prop.trashcan03", - "static.prop.trashcan04", - "static.prop.trashcan05", - "static.prop.bin", -] - -#: blueprints for traffic cones -coneModels = [ - "static.prop.constructioncone", - "static.prop.trafficcone01", - "static.prop.trafficcone02", -] - -#: blueprints for road debris -debrisModels = [ - "static.prop.dirtdebris01", - "static.prop.dirtdebris02", - "static.prop.dirtdebris03", -] - -#: blueprints for vending machines -vendingMachineModels = [ - "static.prop.vendingmachine", -] - -#: blueprints for chairs -chairModels = [ - "static.prop.plasticchair", -] - -#: blueprints for bus stops -busStopModels = [ - "static.prop.busstop", -] - -#: blueprints for roadside billboards -advertisementModels = [ - "static.prop.advertisement", - "static.prop.streetsign", - "static.prop.streetsign01", - "static.prop.streetsign04", -] - -#: blueprints for pieces of trash -garbageModels = [ - "static.prop.colacan", - "static.prop.garbage01", - "static.prop.garbage02", - "static.prop.garbage03", - "static.prop.garbage04", - "static.prop.garbage05", - "static.prop.garbage06", - "static.prop.plasticbag", - "static.prop.trashbag", -] - -#: blueprints for containers -containerModels = [ - "static.prop.container", - "static.prop.clothcontainer", - "static.prop.glasscontainer", -] - -#: blueprints for tables -tableModels = [ - "static.prop.table", - "static.prop.plastictable", -] - -#: blueprints for traffic barriers -barrierModels = [ - "static.prop.streetbarrier", - "static.prop.chainbarrier", - "static.prop.chainbarrierend", -] - -#: blueprints for flowerpots -plantpotModels = [ - "static.prop.plantpot01", - "static.prop.plantpot02", - "static.prop.plantpot03", - "static.prop.plantpot04", - "static.prop.plantpot05", - "static.prop.plantpot06", - "static.prop.plantpot07", - "static.prop.plantpot08", -] - -#: blueprints for mailboxes -mailboxModels = [ - "static.prop.mailbox", -] - -#: blueprints for garden gnomes -gnomeModels = [ - "static.prop.gnome", -] - -#: blueprints for creased boxes -creasedboxModels = [ - "static.prop.creasedbox01", - "static.prop.creasedbox02", - "static.prop.creasedbox03", -] - -#: blueprints for briefcases, suitcases, etc. -caseModels = [ - "static.prop.travelcase", - "static.prop.briefcase", - "static.prop.guitarcase", -] - -#: blueprints for boxes -boxModels = [ - "static.prop.box01", - "static.prop.box02", - "static.prop.box03", -] - -#: blueprints for benches -benchModels = [ - "static.prop.bench01", - "static.prop.bench02", - "static.prop.bench03", -] - -#: blueprints for barrels -barrelModels = [ - "static.prop.barrel", -] - -#: blueprints for ATMs -atmModels = [ - "static.prop.atm", -] - -#: blueprints for kiosks -kioskModels = [ - "static.prop.kiosk_01", -] - -#: blueprints for iron plates -ironplateModels = [ - "static.prop.ironplank", -] - -#: blueprints for traffic warning signs -trafficwarningModels = [ - "static.prop.trafficwarning", -] - -## Walker blueprints - -#: blueprints for pedestrians -walkerModels = [ - "walker.pedestrian.0001", - "walker.pedestrian.0002", - "walker.pedestrian.0003", - "walker.pedestrian.0004", - "walker.pedestrian.0005", - "walker.pedestrian.0006", - "walker.pedestrian.0007", - "walker.pedestrian.0008", - "walker.pedestrian.0009", - "walker.pedestrian.0010", - "walker.pedestrian.0011", - "walker.pedestrian.0012", - "walker.pedestrian.0013", - "walker.pedestrian.0014", -] +_IDS = { + "0.10.0": { + "advertisementModels": [ + "static.prop.advertisement", + "static.prop.streetsign", + "static.prop.streetsign01", + "static.prop.streetsign04", + ], + "atmModels": ["static.prop.atm"], + "barrelModels": ["static.prop.barrel"], + "barrierModels": [ + "static.prop.chainbarrier", + "static.prop.chainbarrierend", + "static.prop.streetbarrier", + ], + "benchModels": ["static.prop.bench01", "static.prop.bench02"], + "bicycleModels": [], + "boxModels": [], + "busModels": ["vehicle.fuso.mitsubishi"], + "busStopModels": ["static.prop.busstop"], + "carModels": [ + "vehicle.dodge.charger", + "vehicle.dodgecop.charger", + "vehicle.lincoln.mkz", + "vehicle.mini.cooper", + "vehicle.nissan.patrol", + "vehicle.taxi.ford", + ], + "caseModels": [ + "static.prop.briefcase", + "static.prop.guitarcase", + "static.prop.travelcase", + ], + "chairModels": ["static.prop.plasticchair"], + "coneModels": [ + "static.prop.constructioncone", + "static.prop.trafficcone01", + "static.prop.trafficcone02", + ], + "containerModels": ["static.prop.container"], + "creasedboxModels": ["static.prop.creasedbox01"], + "debrisModels": [ + "static.prop.dirtdebris01", + "static.prop.dirtdebris02", + "static.prop.dirtdebris03", + ], + "garbageModels": [ + "static.prop.colacan", + "static.prop.garbage01", + "static.prop.garbage02", + "static.prop.garbage03", + "static.prop.garbage04", + "static.prop.garbage05", + "static.prop.garbage06", + "static.prop.plasticbag", + "static.prop.platformgarbage01", + "static.prop.trashbag", + ], + "gnomeModels": ["static.prop.gnome"], + "ironplateModels": [], + "kioskModels": ["static.prop.kiosk_01"], + "mailboxModels": ["static.prop.mailbox"], + "motorcycleModels": [], + "plantpotModels": [ + "static.prop.plantpot01", + "static.prop.plantpot02", + "static.prop.plantpot03", + "static.prop.plantpot04", + "static.prop.plantpot05", + "static.prop.plantpot06", + "static.prop.plantpot07", + ], + "tableModels": ["static.prop.maptable", "static.prop.plastictable"], + "trafficwarningModels": ["static.prop.trafficwarning"], + "trashModels": [ + "static.prop.trashcan01", + "static.prop.trashcan02", + "static.prop.trashcan03", + "static.prop.trashcan04", + ], + "truckModels": [ + "vehicle.ambulance.ford", + "vehicle.carlacola.actors", + "vehicle.firetruck.actors", + ], + "vanModels": [], + "vendingMachineModels": ["static.prop.vendingmachine"], + "walkerModels": [ + "walker.pedestrian.0015", + "walker.pedestrian.0016", + "walker.pedestrian.0017", + "walker.pedestrian.0018", + "walker.pedestrian.0019", + "walker.pedestrian.0020", + "walker.pedestrian.0021", + "walker.pedestrian.0022", + "walker.pedestrian.0023", + "walker.pedestrian.0024", + "walker.pedestrian.0025", + "walker.pedestrian.0026", + "walker.pedestrian.0027", + "walker.pedestrian.0028", + "walker.pedestrian.0029", + "walker.pedestrian.0030", + "walker.pedestrian.0031", + "walker.pedestrian.0032", + "walker.pedestrian.0033", + "walker.pedestrian.0034", + "walker.pedestrian.0035", + "walker.pedestrian.0036", + "walker.pedestrian.0037", + "walker.pedestrian.0038", + "walker.pedestrian.0039", + "walker.pedestrian.0040", + "walker.pedestrian.0041", + "walker.pedestrian.0042", + "walker.pedestrian.0043", + "walker.pedestrian.0044", + "walker.pedestrian.0045", + "walker.pedestrian.0046", + "walker.pedestrian.0047", + "walker.pedestrian.0048", + "walker.pedestrian.0049", + "walker.pedestrian.0050", + "walker.pedestrian.0051", + ], + }, + "0.9.15": { + "advertisementModels": [ + "static.prop.advertisement", + "static.prop.streetsign", + "static.prop.streetsign01", + "static.prop.streetsign04", + ], + "atmModels": ["static.prop.atm"], + "barrelModels": ["static.prop.barrel"], + "barrierModels": [ + "static.prop.chainbarrier", + "static.prop.chainbarrierend", + "static.prop.streetbarrier", + ], + "benchModels": [ + "static.prop.bench01", + "static.prop.bench02", + "static.prop.bench03", + ], + "bicycleModels": [ + "vehicle.bh.crossbike", + "vehicle.diamondback.century", + "vehicle.gazelle.omafiets", + ], + "boxModels": ["static.prop.box01", "static.prop.box02", "static.prop.box03"], + "busModels": ["vehicle.mitsubishi.fusorosa"], + "busStopModels": ["static.prop.busstop", "static.prop.busstoplb"], + "carModels": [ + "vehicle.audi.a2", + "vehicle.audi.etron", + "vehicle.audi.tt", + "vehicle.chevrolet.impala", + "vehicle.citroen.c3", + "vehicle.dodge.charger_2020", + "vehicle.dodge.charger_police", + "vehicle.dodge.charger_police_2020", + "vehicle.ford.crown", + "vehicle.ford.mustang", + "vehicle.jeep.wrangler_rubicon", + "vehicle.lincoln.mkz_2017", + "vehicle.lincoln.mkz_2020", + "vehicle.mercedes.coupe", + "vehicle.mercedes.coupe_2020", + "vehicle.micro.microlino", + "vehicle.mini.cooper_s_2021", + "vehicle.nissan.micra", + "vehicle.nissan.patrol", + "vehicle.nissan.patrol_2021", + "vehicle.seat.leon", + "vehicle.tesla.model3", + "vehicle.toyota.prius", + ], + "caseModels": [ + "static.prop.briefcase", + "static.prop.guitarcase", + "static.prop.travelcase", + ], + "chairModels": ["static.prop.plasticchair"], + "coneModels": [ + "static.prop.constructioncone", + "static.prop.trafficcone01", + "static.prop.trafficcone02", + ], + "containerModels": [ + "static.prop.clothcontainer", + "static.prop.container", + "static.prop.glasscontainer", + ], + "creasedboxModels": [ + "static.prop.creasedbox01", + "static.prop.creasedbox02", + "static.prop.creasedbox03", + ], + "debrisModels": [ + "static.prop.dirtdebris01", + "static.prop.dirtdebris02", + "static.prop.dirtdebris03", + ], + "garbageModels": [ + "static.prop.colacan", + "static.prop.garbage01", + "static.prop.garbage02", + "static.prop.garbage03", + "static.prop.garbage04", + "static.prop.garbage05", + "static.prop.garbage06", + "static.prop.plasticbag", + "static.prop.platformgarbage01", + "static.prop.trashbag", + ], + "gnomeModels": ["static.prop.gnome"], + "ironplateModels": ["static.prop.ironplank"], + "kioskModels": ["static.prop.kiosk_01"], + "mailboxModels": ["static.prop.mailbox"], + "motorcycleModels": [ + "vehicle.harley-davidson.low_rider", + "vehicle.kawasaki.ninja", + "vehicle.vespa.zx125", + "vehicle.yamaha.yzf", + ], + "plantpotModels": [ + "static.prop.plantpot01", + "static.prop.plantpot02", + "static.prop.plantpot03", + "static.prop.plantpot04", + "static.prop.plantpot05", + "static.prop.plantpot06", + "static.prop.plantpot07", + "static.prop.plantpot08", + ], + "tableModels": [ + "static.prop.maptable", + "static.prop.plastictable", + "static.prop.table", + ], + "trafficwarningModels": ["static.prop.trafficwarning"], + "trashModels": [ + "static.prop.bin", + "static.prop.trashcan01", + "static.prop.trashcan02", + "static.prop.trashcan03", + "static.prop.trashcan04", + "static.prop.trashcan05", + ], + "truckModels": [ + "vehicle.carlamotors.carlacola", + "vehicle.carlamotors.european_hgv", + "vehicle.carlamotors.firetruck", + "vehicle.tesla.cybertruck", + ], + "vanModels": [ + "vehicle.ford.ambulance", + "vehicle.mercedes.sprinter", + "vehicle.volkswagen.t2", + "vehicle.volkswagen.t2_2021", + ], + "vendingMachineModels": ["static.prop.vendingmachine"], + "walkerModels": [ + "walker.pedestrian.0001", + "walker.pedestrian.0002", + "walker.pedestrian.0003", + "walker.pedestrian.0004", + "walker.pedestrian.0005", + "walker.pedestrian.0006", + "walker.pedestrian.0007", + "walker.pedestrian.0008", + "walker.pedestrian.0009", + "walker.pedestrian.0010", + "walker.pedestrian.0011", + "walker.pedestrian.0012", + "walker.pedestrian.0013", + "walker.pedestrian.0014", + "walker.pedestrian.0015", + "walker.pedestrian.0016", + "walker.pedestrian.0017", + "walker.pedestrian.0018", + "walker.pedestrian.0019", + "walker.pedestrian.0020", + "walker.pedestrian.0021", + "walker.pedestrian.0022", + "walker.pedestrian.0023", + "walker.pedestrian.0024", + "walker.pedestrian.0025", + "walker.pedestrian.0026", + "walker.pedestrian.0027", + "walker.pedestrian.0028", + "walker.pedestrian.0029", + "walker.pedestrian.0030", + "walker.pedestrian.0031", + "walker.pedestrian.0032", + "walker.pedestrian.0033", + "walker.pedestrian.0034", + "walker.pedestrian.0035", + "walker.pedestrian.0036", + "walker.pedestrian.0037", + "walker.pedestrian.0038", + "walker.pedestrian.0039", + "walker.pedestrian.0040", + "walker.pedestrian.0041", + "walker.pedestrian.0042", + "walker.pedestrian.0043", + "walker.pedestrian.0044", + "walker.pedestrian.0045", + "walker.pedestrian.0046", + "walker.pedestrian.0047", + "walker.pedestrian.0048", + "walker.pedestrian.0049", + "walker.pedestrian.0050", + "walker.pedestrian.0051", + ], + }, +} + +_DIMS = { + "0.10.0": { + "static.prop.advertisement": { + "width": 0.28684958815574646, + "length": 1.549233317375183, + "height": 2.4428441524505615, + }, + "static.prop.atm": { + "width": 0.8325381278991699, + "length": 0.5721203684806824, + "height": 2.194814443588257, + }, + "static.prop.barrel": { + "width": 0.47143638134002686, + "length": 0.4596165418624878, + "height": 0.8067459464073181, + }, + "static.prop.bench01": { + "width": 0.6381909847259521, + "length": 1.7933329343795776, + "height": 1.0038363933563232, + }, + "static.prop.bench02": { + "width": 0.5126523971557617, + "length": 1.58349609375, + "height": 0.5126523971557617, + }, + "static.prop.briefcase": { + "width": 0.18117640912532806, + "length": 0.543353796005249, + "height": 0.43285050988197327, + }, + "static.prop.busstop": { + "width": 3.8760786056518555, + "length": 1.8936100006103516, + "height": 2.738938331604004, + }, + "static.prop.chainbarrier": { + "width": 0.24313338100910187, + "length": 1.6833475828170776, + "height": 0.6920976042747498, + }, + "static.prop.chainbarrierend": { + "width": 0.24313338100910187, + "length": 0.24313347041606903, + "height": 0.6920976042747498, + }, + "static.prop.colacan": { + "width": 0.07167824357748032, + "length": 0.06817007064819336, + "height": 0.10954885929822922, + }, + "static.prop.constructioncone": { + "width": 0.4784207046031952, + "length": 0.478452205657959, + "height": 0.7117974162101746, + }, + "static.prop.container": { + "width": 1.6529669761657715, + "length": 5.399704933166504, + "height": 1.3477081060409546, + }, + "static.prop.creasedbox01": { + "width": 0.9068000316619873, + "length": 1.0287128686904907, + "height": 0.061725616455078125, + }, + "static.prop.dirtdebris01": { + "width": 1.5139321088790894, + "length": 1.8574368953704834, + "height": 0.14900343120098114, + }, + "static.prop.dirtdebris02": { + "width": 1.5139321088790894, + "length": 1.8574368953704834, + "height": 0.14900343120098114, + }, + "static.prop.dirtdebris03": { + "width": 1.5139321088790894, + "length": 1.8574368953704834, + "height": 0.1883699893951416, + }, + "static.prop.garbage01": { + "width": 0.05342775210738182, + "length": 0.053427763283252716, + "height": 0.08676455914974213, + }, + "static.prop.garbage02": { + "width": 0.05342775210738182, + "length": 0.05342775210738182, + "height": 0.009213896468281746, + }, + "static.prop.garbage03": { + "width": 0.05944278463721275, + "length": 0.059658296406269073, + "height": 0.07927705347537994, + }, + "static.prop.garbage04": { + "width": 0.05568109452724457, + "length": 0.05727477744221687, + "height": 0.06884017586708069, + }, + "static.prop.garbage05": { + "width": 0.23253268003463745, + "length": 0.23187801241874695, + "height": 0.05761278420686722, + }, + "static.prop.garbage06": { + "width": 0.2133311778306961, + "length": 0.3661772906780243, + "height": 0.07683420181274414, + }, + "static.prop.gnome": { + "width": 0.37559059262275696, + "length": 0.36661627888679504, + "height": 0.8829975724220276, + }, + "static.prop.guitarcase": { + "width": 0.1251685619354248, + "length": 1.242393970489502, + "height": 0.4944811165332794, + }, + "static.prop.kiosk_01": { + "width": 1.6540685892105103, + "length": 1.6252474784851074, + "height": 3.2453691959381104, + }, + "static.prop.mailbox": { + "width": 0.43842461705207825, + "length": 0.526629626750946, + "height": 1.1572810411453247, + }, + "static.prop.maptable": { + "width": 0.6170762777328491, + "length": 1.5732090473175049, + "height": 1.1810814142227173, + }, + "static.prop.plantpot01": { + "width": 0.4757719337940216, + "length": 1.08914053440094, + "height": 0.5573238730430603, + }, + "static.prop.plantpot02": { + "width": 0.43072694540023804, + "length": 1.0511938333511353, + "height": 0.48692914843559265, + }, + "static.prop.plantpot03": { + "width": 0.43072694540023804, + "length": 1.0511937141418457, + "height": 0.4869290888309479, + }, + "static.prop.plantpot04": { + "width": 0.7366006970405579, + "length": 4.967305660247803, + "height": 0.12478026747703552, + }, + "static.prop.plantpot05": { + "width": 0.4757719337940216, + "length": 0.4946027398109436, + "height": 0.5573238730430603, + }, + "static.prop.plantpot06": { + 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"walker.pedestrian.0044": { + "width": 0.3753577768802643, + "length": 0.3753577768802643, + "height": 1.8600000143051147, + }, + "walker.pedestrian.0045": { + "width": 0.3753577768802643, + "length": 0.3753577768802643, + "height": 1.8600000143051147, + }, + "walker.pedestrian.0046": { + "width": 0.3753577768802643, + "length": 0.3753577768802643, + "height": 1.8600000143051147, + }, + "walker.pedestrian.0047": { + "width": 0.3753577768802643, + "length": 0.3753577768802643, + "height": 1.8600000143051147, + }, + "walker.pedestrian.0048": { + "width": 0.5, + "length": 0.5, + "height": 1.100000023841858, + }, + "walker.pedestrian.0049": { + "width": 0.5, + "length": 0.5, + "height": 1.100000023841858, + }, + "walker.pedestrian.0050": { + "width": 0.3753577768802643, + "length": 0.3753577768802643, + "height": 1.8600000143051147, + }, + "walker.pedestrian.0051": { + "width": 0.3753577768802643, + "length": 0.3753577768802643, + "height": 1.8600000143051147, + }, + }, +} + +ids = _pick(_IDS, _CARLA_VER) +dims = _pick(_DIMS, _CARLA_VER) + + +def any_in(category): + """Return all blueprint IDs for a category; raise if none recorded.""" + model = category + "Models" + models = ids.get(model) + if models: + return models + raise InvalidScenarioError( + f"Scenic has no '{category}' blueprints recorded for CARLA {_CARLA_VER}." + ) + + +def width(bp_id, default): + """Width for ``bp_id``, or ``default`` if unknown.""" + d = dims.get(bp_id) + return d["width"] if d else default + + +def length(bp_id, default): + """Length for ``bp_id``, or ``default`` if unknown.""" + d = dims.get(bp_id) + return d["length"] if d else default + + +def height(bp_id, default): + """Height for ``bp_id``, or ``default`` if unknown.""" + d = dims.get(bp_id) + return d["height"] if d else default diff --git a/src/scenic/simulators/carla/model.scenic b/src/scenic/simulators/carla/model.scenic index 3816f4c62..1b60dfbc1 100644 --- a/src/scenic/simulators/carla/model.scenic +++ b/src/scenic/simulators/carla/model.scenic @@ -44,7 +44,7 @@ Global Parameters: import pathlib from scenic.domains.driving.model import * -import scenic.simulators.carla.blueprints as blueprints +import scenic.simulators.carla.blueprints as bp from scenic.simulators.carla.behaviors import * from scenic.simulators.utils.colors import Color @@ -182,7 +182,10 @@ class Car(Vehicle): The default ``blueprint`` (see `CarlaActor`) is a uniform distribution over the blueprints listed in :obj:`scenic.simulators.carla.blueprints.carModels`. """ - blueprint: Uniform(*blueprints.carModels) + blueprint: Uniform(*bp.any_in("car")) + width: bp.width(self.blueprint, 2) + length: bp.length(self.blueprint, 4.5) + height: bp.height(self.blueprint, 1.5) @property def isCar(self): @@ -192,22 +195,34 @@ class NPCCar(Car): # no distinction between these in CARLA pass class Bicycle(Vehicle): - width: 1 - length: 2 - blueprint: Uniform(*blueprints.bicycleModels) - + blueprint: Uniform(*bp.any_in("bicycle")) + width: bp.width(self.blueprint, 1) + length: bp.length(self.blueprint, 2) + height: bp.height(self.blueprint, 1.5) class Motorcycle(Vehicle): - width: 1 - length:2 - blueprint: Uniform(*blueprints.motorcycleModels) - + blueprint: Uniform(*bp.any_in("motorcycle")) + width: bp.width(self.blueprint, 1) + length: bp.length(self.blueprint, 2) + height: bp.height(self.blueprint, 1.5) class Truck(Vehicle): - width: 3 - length: 7 - blueprint: Uniform(*blueprints.truckModels) - + blueprint: Uniform(*bp.any_in("truck")) + width: bp.width(self.blueprint, 3) + length: bp.length(self.blueprint, 7) + height: bp.height(self.blueprint, 2.5) + +class Van(Vehicle): + blueprint: Uniform(*bp.any_in("van")) + width: bp.width(self.blueprint, 2) + length: bp.length(self.blueprint, 6) + height: bp.height(self.blueprint, 2) + +class Bus(Vehicle): + blueprint: Uniform(*bp.any_in("bus")) + width: bp.width(self.blueprint, 4) + length: bp.length(self.blueprint, 10) + height: bp.height(self.blueprint, 4) class Pedestrian(Pedestrian, CarlaActor, Walks, _CarlaPedestrian): """A pedestrian. @@ -215,9 +230,10 @@ class Pedestrian(Pedestrian, CarlaActor, Walks, _CarlaPedestrian): The default ``blueprint`` (see `CarlaActor`) is a uniform distribution over the blueprints listed in :obj:`scenic.simulators.carla.blueprints.walkerModels`. """ - width: 0.5 - length: 0.5 - blueprint: Uniform(*blueprints.walkerModels) + blueprint: Uniform(*bp.any_in("walker")) + width: bp.width(self.blueprint, 0.5) + length: bp.length(self.blueprint, 0.5) + height: bp.height(self.blueprint, 0.5) carlaController: None def setWalkingDirection(self, heading): @@ -238,100 +254,99 @@ class Prop(CarlaActor): regionContainedIn: road position: new Point on road parentOrientation: Range(0, 360) deg - width: 0.5 - length: 0.5 + width: bp.width(self.blueprint, 0.5) + length: bp.length(self.blueprint, 0.5) + height: bp.height(self.blueprint, 0.5) physics: False class Trash(Prop): - blueprint: Uniform(*blueprints.trashModels) + blueprint: Uniform(*bp.any_in("trash")) class Cone(Prop): - blueprint: Uniform(*blueprints.coneModels) + blueprint: Uniform(*bp.any_in("cone")) class Debris(Prop): - blueprint: Uniform(*blueprints.debrisModels) + blueprint: Uniform(*bp.any_in("debris")) class VendingMachine(Prop): - blueprint: Uniform(*blueprints.vendingMachineModels) - + blueprint: Uniform(*bp.any_in("vendingMachine")) + class Chair(Prop): - blueprint: Uniform(*blueprints.chairModels) - + blueprint: Uniform(*bp.any_in("chair")) + class BusStop(Prop): - blueprint: Uniform(*blueprints.busStopModels) + blueprint: Uniform(*bp.any_in("busStop")) class Advertisement(Prop): - blueprint: Uniform(*blueprints.advertisementModels) + blueprint: Uniform(*bp.any_in("advertisement")) class Garbage(Prop): - blueprint: Uniform(*blueprints.garbageModels) - + blueprint: Uniform(*bp.any_in("garbage")) class Container(Prop): - blueprint: Uniform(*blueprints.containerModels) + blueprint: Uniform(*bp.any_in("container")) class Table(Prop): - blueprint: Uniform(*blueprints.tableModels) + blueprint: Uniform(*bp.any_in("table")) class Barrier(Prop): - blueprint: Uniform(*blueprints.barrierModels) + blueprint: Uniform(*bp.any_in("barrier")) class PlantPot(Prop): - blueprint: Uniform(*blueprints.plantpotModels) + blueprint: Uniform(*bp.any_in("plantpot")) class Mailbox(Prop): - blueprint: Uniform(*blueprints.mailboxModels) - + blueprint: Uniform(*bp.any_in("mailbox")) class Gnome(Prop): - blueprint: Uniform(*blueprints.gnomeModels) + blueprint: Uniform(*bp.any_in("gnome")) class CreasedBox(Prop): - blueprint: Uniform(*blueprints.creasedboxModels) + blueprint: Uniform(*bp.any_in("creasedbox")) class Case(Prop): - blueprint: Uniform(*blueprints.caseModels) + blueprint: Uniform(*bp.any_in("case")) class Box(Prop): - blueprint: Uniform(*blueprints.boxModels) + blueprint: Uniform(*bp.any_in("box")) class Bench(Prop): - blueprint: Uniform(*blueprints.benchModels) + blueprint: Uniform(*bp.any_in("bench")) class Barrel(Prop): - blueprint: Uniform(*blueprints.barrelModels) + blueprint: Uniform(*bp.any_in("barrel")) class ATM(Prop): - blueprint: Uniform(*blueprints.atmModels) + blueprint: Uniform(*bp.any_in("atm")) class Kiosk(Prop): - blueprint: Uniform(*blueprints.kioskModels) + blueprint: Uniform(*bp.any_in("kiosk")) class IronPlate(Prop): - blueprint: Uniform(*blueprints.ironplateModels) + blueprint: Uniform(*bp.any_in("ironplate")) class TrafficWarning(Prop): - blueprint: Uniform(*blueprints.trafficwarningModels) + blueprint: Uniform(*bp.any_in("trafficwarning")) ## Utility functions diff --git a/tests/simulators/carla/test_blueprints.py b/tests/simulators/carla/test_blueprints.py index 4b7dcba25..bd9534e89 100644 --- a/tests/simulators/carla/test_blueprints.py +++ b/tests/simulators/carla/test_blueprints.py @@ -7,49 +7,63 @@ from test_actions import getCarlaSimulator -from scenic.simulators.carla.blueprints import ( - advertisementModels, - atmModels, - barrelModels, - barrierModels, - benchModels, - bicycleModels, - boxModels, - busStopModels, - carModels, - caseModels, - chairModels, - coneModels, - containerModels, - creasedboxModels, - debrisModels, - garbageModels, - gnomeModels, - ironplateModels, - kioskModels, - mailboxModels, - motorcycleModels, - plantpotModels, - tableModels, - trafficwarningModels, - trashModels, - truckModels, - vendingMachineModels, - walkerModels, -) +from scenic.simulators.carla import blueprints as bp from tests.utils import compileScenic, sampleScene +# Map class name -> ids dict key +CATEGORY_TO_CLASS = { + "carModels": "Car", + "bicycleModels": "Bicycle", + "motorcycleModels": "Motorcycle", + "truckModels": "Truck", + "vanModels": "Van", + "busModels": "Bus", + "trashModels": "Trash", + "coneModels": "Cone", + "debrisModels": "Debris", + "vendingMachineModels": "VendingMachine", + "chairModels": "Chair", + "busStopModels": "BusStop", + "advertisementModels": "Advertisement", + "garbageModels": "Garbage", + "containerModels": "Container", + "tableModels": "Table", + "barrierModels": "Barrier", + "plantpotModels": "PlantPot", + "mailboxModels": "Mailbox", + "gnomeModels": "Gnome", + "creasedboxModels": "CreasedBox", + "caseModels": "Case", + "boxModels": "Box", + "benchModels": "Bench", + "barrelModels": "Barrel", + "atmModels": "ATM", + "kioskModels": "Kiosk", + "ironplateModels": "IronPlate", + "trafficwarningModels": "TrafficWarning", + "walkerModels": "Pedestrian", +} + +# Build the (modelType, modelName) pairs from bp.ids +PARAMS = [ + (model_type, model_name) + for key, model_type in CATEGORY_TO_CLASS.items() + for model_name in bp.ids.get(key, []) # empty lists are fine; they just add no params +] + def model_blueprint(simulator, mapPath, town, modelType, modelName): code = f""" - param map = r'{mapPath}' - param carla_map = '{town}' - param time_step = 1.0/10 + param map = r'{mapPath}' + param carla_map = '{town}' + param time_step = 1.0/10 - model scenic.simulators.carla.model - ego = new {modelType} with blueprint '{modelName}' - terminate after 1 steps - """ + model scenic.simulators.carla.model + ego = new {modelType} at (369, -326), + with blueprint '{modelName}', + with regionContainedIn None + terminate after 1 steps + """ scenario = compileScenic(code, mode2D=True) scene = sampleScene(scenario) simulation = simulator.simulate(scene) @@ -57,42 +71,7 @@ def model_blueprint(simulator, mapPath, town, modelType, modelName): assert obj.blueprint == modelName -model_data = { - "Car": carModels, - "Bicycle": bicycleModels, - "Motorcycle": motorcycleModels, - "Truck": truckModels, - "Trash": trashModels, - "Cone": coneModels, - "Debris": debrisModels, - "VendingMachine": vendingMachineModels, - "Chair": chairModels, - "BusStop": busStopModels, - "Advertisement": advertisementModels, - "Garbage": garbageModels, - "Container": containerModels, - "Table": tableModels, - "Barrier": barrierModels, - "PlantPot": plantpotModels, - "Mailbox": mailboxModels, - "Gnome": gnomeModels, - "CreasedBox": creasedboxModels, - "Case": caseModels, - "Box": boxModels, - "Bench": benchModels, - "Barrel": barrelModels, - "ATM": atmModels, - "Kiosk": kioskModels, - "IronPlate": ironplateModels, - "TrafficWarning": trafficwarningModels, - "Pedestrian": walkerModels, -} - - -@pytest.mark.parametrize( - "modelType, modelName", - [(type, name) for type, names in model_data.items() for name in names], -) +@pytest.mark.parametrize("modelType, modelName", PARAMS) def test_model_blueprints(getCarlaSimulator, modelType, modelName): simulator, town, mapPath = getCarlaSimulator("Town01") model_blueprint(simulator, mapPath, town, modelType, modelName) diff --git a/tools/carla/README.md b/tools/carla/README.md new file mode 100644 index 000000000..955382618 --- /dev/null +++ b/tools/carla/README.md @@ -0,0 +1,23 @@ +# Dynamic CARLA blueprints + +This folder has two scripts that **collect CARLA blueprint IDs/dimensions** and **generate** the `blueprints.py` module used by Scenic. + +## Quick Start + + # From tools/carla: + python snapshot_blueprints.py # capture a snapshot from the running CARLA server + python make_blueprints.py # build src/scenic/simulators/carla/blueprints.py + +## What the scripts do + +### `snapshot_blueprints.py` + +Connects to CARLA (starts it headless if needed, requires `CARLA_ROOT`). +Make sure the CARLA server and Python API versions match. +Groups blueprints into categories, measures bounding-box dimensions, and writes: +`tools/carla/snapshots/blueprints_.json` +Run this once for each CARLA version you want to support. + +### `make_blueprints.py` + +Reads all `tools/carla/snapshot/blueprints_*json`, sorts versions semantically (newest → oldest), normalizes category/ID ordering for stable diffs, and writes: `src/scenic/simulators/carla/blueprints.py` diff --git a/tools/carla/make_blueprints.py b/tools/carla/make_blueprints.py new file mode 100644 index 000000000..537458ad1 --- /dev/null +++ b/tools/carla/make_blueprints.py @@ -0,0 +1,143 @@ +"""Build scenic.simulators.carla.blueprints from JSON snapshots. + +- Reads tools/carla/snapshots/blueprints_*.json +- Sorts versions semantically (newest → oldest) +- Normalizes IDs/dims (sorted for stable diffs) +- Writes src/scenic/simulators/carla/blueprints.py with _IDS/_DIMS and helpers. + +Usage: python tools/carla/make_blueprints.py +Output: src/scenic/simulators/carla/blueprints.py +""" + +import json +from pathlib import Path + +CARLA_TOOLS_DIR = Path(__file__).resolve().parent # .../Scenic/tools/carla +SNAPSHOT_DIR = CARLA_TOOLS_DIR / "snapshots" # .../Scenic/tools/carla/snapshots +PROJECT_ROOT = CARLA_TOOLS_DIR.parents[1] # .../Scenic +SNAPSHOT_PATTERN = "blueprints_*.json" +OUT_PATH = PROJECT_ROOT / "src" / "scenic" / "simulators" / "carla" / "blueprints.py" + + +HEADER = '''\ +# AUTO-GENERATED. Do not edit by hand. +# Built from tools/carla/make_blueprints.py + +"""CARLA blueprints for cars, pedestrians, etc.""" + +from importlib.metadata import version as _pkg_version, PackageNotFoundError +from scenic.core.errors import InvalidScenarioError + +try: + _CARLA_VER = _pkg_version("carla") +except PackageNotFoundError: + _CARLA_VER = "0.0.0" # no carla package; default to newest known blueprints + +def _verkey(s: str): + # Handle '0.9.15', '0.10.0', '1.2' -> (major, minor, patch) + parts = [int(p) for p in s.split('.')] + parts += [0] * (3 - len(parts)) + return tuple(parts[:3]) + +def _pick(vermap, ver): + """Choose the blueprint map for CARLA version""" + # 1) Exact match + if ver in vermap: + return vermap[ver] + # 2) If same major.minor, use the newest patch. + mm = ".".join(ver.split(".")[:2]) + cands = [v for v in vermap if v.startswith(mm + ".")] + if cands: + best = max(cands, key=_verkey) + return vermap[best] + # 3) Otherwise, use the newest version. + best = max(vermap.keys(), key=_verkey) + return vermap[best] + +oldBlueprintNames = { + # Map current names to legacy names + "vehicle.dodge.charger_police": ("vehicle.dodge_charger.police",), + "vehicle.lincoln.mkz_2017": ("vehicle.lincoln.mkz2017",), + "vehicle.mercedes.coupe": ("vehicle.mercedes-benz.coupe",), + "vehicle.mini.cooper_s": ("vehicle.mini.cooperst",), + "vehicle.ford.mustang": ("vehicle.mustang.mustang",), +} +''' + + +FOOTER = '''\ +ids = _pick(_IDS, _CARLA_VER) +dims = _pick(_DIMS, _CARLA_VER) + +def any_in(category): + """Return all blueprint IDs for a category; raise if none recorded.""" + model = category + "Models" + models = ids.get(model) + if models: + return models + raise InvalidScenarioError( + f"Scenic has no '{category}' blueprints recorded for CARLA {_CARLA_VER}." + ) + +def width(bp_id, default): + """Width for ``bp_id``, or ``default`` if unknown.""" + d = dims.get(bp_id); return d['width'] if d else default +def length(bp_id, default): + """Length for ``bp_id``, or ``default`` if unknown.""" + d = dims.get(bp_id); return d['length'] if d else default +def height(bp_id, default): + """Height for ``bp_id``, or ``default`` if unknown.""" + d = dims.get(bp_id); return d['height'] if d else default +''' + + +def _verkey(s: str): + parts = [int(p) for p in s.split(".")] + parts += [0] * (3 - len(parts)) + return tuple(parts[:3]) + + +def load_versions(): + files = list(SNAPSHOT_DIR.glob(SNAPSHOT_PATTERN)) + if not files: + raise SystemExit("No input JSONs found.") + + entries = [] + for jf in files: + obj = json.loads(jf.read_text(encoding="utf-8")) + ver = str(obj["server_version"]) + entries.append((ver, {"ids": obj.get("ids", {}), "dims": obj.get("dims", {})})) + + entries.sort(key=lambda x: _verkey(x[0]), reverse=True) # newest → oldest + return {ver: data for ver, data in entries} + + +def normalize(versions): + """Return (ids_map, dims_map) with categories, blueprint IDs, and dims sorted.""" + ids_map, dims_map = {}, {} + for ver, data in versions.items(): + ids = data.get("ids", {}) + dims = data.get("dims", {}) + ids_map[ver] = {cat: sorted(bp_ids) for cat, bp_ids in sorted(ids.items())} + dims_map[ver] = dict(sorted(dims.items())) + return ids_map, dims_map + + +def build_source(versions): + ids_map, dims_map = normalize(versions) + out = [HEADER, "\n"] + out += ["_IDS = ", json.dumps(ids_map, indent=2), "\n\n"] + out += ["_DIMS = ", json.dumps(dims_map, indent=2), "\n\n"] + out += [FOOTER] + return "".join(out) + + +def main(): + src = build_source(load_versions()) + OUT_PATH.parent.mkdir(parents=True, exist_ok=True) + OUT_PATH.write_text(src, encoding="utf-8") + print(f"[OK] Wrote {OUT_PATH}") + + +if __name__ == "__main__": + main() diff --git a/tools/carla/snapshot_blueprints.py b/tools/carla/snapshot_blueprints.py new file mode 100644 index 000000000..703862186 --- /dev/null +++ b/tools/carla/snapshot_blueprints.py @@ -0,0 +1,256 @@ +"""Collect CARLA blueprint snapshots. + +- Connects to (or launches) CARLA, enumerates vehicle/walker/prop blueprints, + and measures bounding-box dims. +- Writes snapshots/blueprints_.json. + +Requires: CARLA_ROOT, HOST/PORT reachable. +Usage: python tools/carla/make_snapshot.py +Output: tools/carla/snapshots/blueprints_.json +""" + +import json +import os +from pathlib import Path +import socket +import subprocess +import sys +import time + +SNAPSHOT_DIR = Path(__file__).resolve().parent / "snapshots" +HOST = "127.0.0.1" +PORT = 2000 + +SNAPSHOT_DIR.mkdir(parents=True, exist_ok=True) + +# ---- server helpers ---------------------------------------------------------- + + +def is_server_running(host=HOST, port=PORT): + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: + s.settimeout(1) + try: + s.connect((host, port)) + return True + except Exception: + return False + + +def wait_until_ready(max_seconds=120): + for _ in range(max_seconds): + if is_server_running(): + return True + time.sleep(1) + return False + + +def check_carla_path(): + carla_root = os.environ.get("CARLA_ROOT") + if not carla_root: + print("ERROR: CARLA_ROOT is not set.", file=sys.stderr) + sys.exit(2) + return Path(carla_root) + + +def pick_launcher_from_root(root: Path): + if (root / "CarlaUnreal.sh").exists(): # 0.10.x+ + return "CarlaUnreal.sh", "CarlaUnreal-Linux-Shipping" + if (root / "CarlaUE4.sh").exists(): # 0.9.x + return "CarlaUE4.sh", "CarlaUE4-Linux-Shipping" + print( + "ERROR: Could not find CarlaUnreal.sh or CarlaUE4.sh in CARLA_ROOT.", + file=sys.stderr, + ) + sys.exit(2) + + +def start_carla_if_needed(): + if is_server_running(): + return None + root = check_carla_path() + script, server_process_name = pick_launcher_from_root(root) + print("[INFO] Starting CARLA") + subprocess.Popen( + f"bash {root}/{script} -RenderOffScreen", + shell=True, + stdout=subprocess.DEVNULL, + stderr=subprocess.DEVNULL, + ) + if not wait_until_ready(): + print("ERROR: Unable to connect to CARLA after starting.", file=sys.stderr) + sys.exit(3) + return server_process_name + + +# ---- categorization ---------------------------------------------------------- + +VEHICLE_BASETYPE_TO_CATEGORY = { + "car": "carModels", + "bicycle": "bicycleModels", + "motorcycle": "motorcycleModels", + "truck": "truckModels", + "van": "vanModels", + "bus": "busModels", +} + +PROP_CATEGORY_RULES = [ + ("trashModels", ["trashcan", "bin"]), + ("coneModels", ["cone"]), + ("debrisModels", ["debris"]), + ("vendingMachineModels", ["vendingmachine"]), + ("chairModels", ["chair"]), + ("busStopModels", ["busstop"]), + ("advertisementModels", ["advertisement", "streetsign"]), + ("garbageModels", ["colacan", "garbage", "plasticbag", "trashbag"]), + ("containerModels", ["container"]), + ("tableModels", ["table"]), + ("barrierModels", ["barrier"]), + ("plantpotModels", ["plantpot"]), + ("mailboxModels", ["mailbox"]), + ("gnomeModels", ["gnome"]), + ("creasedboxModels", ["creasedbox"]), + ("caseModels", ["case"]), + ("boxModels", [".box"]), + ("benchModels", ["bench"]), + ("barrelModels", ["barrel"]), + ("atmModels", ["atm"]), + ("kioskModels", ["kiosk"]), + ("ironplateModels", ["ironplank"]), + ("trafficwarningModels", ["trafficwarning"]), +] + +WALKER_CATEGORY = "walkerModels" + +ALL_CATEGORY_KEYS = ( + list(VEHICLE_BASETYPE_TO_CATEGORY.values()) + + [WALKER_CATEGORY] + + [category for category, _ in PROP_CATEGORY_RULES] +) + +# ---- measuring --------------------------------------------------------------- + + +def get_dimensions_from_spawned(actor): + bb = actor.bounding_box + return { + "width": 2.0 * abs(bb.extent.y), # Y right + "length": 2.0 * abs(bb.extent.x), # X forward + "height": 2.0 * abs(bb.extent.z), # Z up + } + + +def measure_dims(world, bp): + import carla + + tf = carla.Transform(carla.Location(x=0.0, y=0.0, z=500.0)) + actor = None + try: + actor = world.try_spawn_actor(bp, tf) + if actor is None: + print( + f"[WARN] Could not spawn '{bp.id}' at x=0, y=0, z=500. No dimensions measured.", + file=sys.stderr, + ) + return None + world.wait_for_tick() + return get_dimensions_from_spawned(actor) + except Exception as e: + print( + f"[WARN] Exception while measuring dims for '{bp.id}': {e}. No dimensions measured.", + file=sys.stderr, + ) + return None + finally: + if actor is not None: + try: + actor.destroy() + except Exception: + pass + + +def categorize_vehicle(bp): + if not bp.has_attribute("base_type"): + print( + f"[WARN] vehicle blueprint '{bp.id}' has no 'base_type' attribute; skipping.", + file=sys.stderr, + ) + return None + val = bp.get_attribute("base_type").as_str().lower() + category = VEHICLE_BASETYPE_TO_CATEGORY.get(val) + if not category: + print( + f"[WARN] vehicle blueprint '{bp.id}' has unsupported base_type='{val}'; skipping.", + file=sys.stderr, + ) + return category + + +def categorize_prop(bp): + name = bp.id.lower() + for category, keywords in PROP_CATEGORY_RULES: + if any(kw in name for kw in keywords): + return category + return None + + +# ---- main -------------------------------------------------------------------- + + +def main(): + try: + import carla + except Exception: + print("ERROR: 'carla' Python package not installed.", file=sys.stderr) + sys.exit(4) + + # start CARLA if needed; remember the process name so we can stop it later + server_process_name = start_carla_if_needed() + + try: + # connect + client = carla.Client(HOST, PORT) + client.set_timeout(10) + world = client.get_world() + server_version = client.get_server_version() + print(f"[INFO] Connected to CARLA {server_version}") + + # gather blueprints + lib = world.get_blueprint_library() + vehicle_bps = lib.filter("vehicle.*") + walker_bps = lib.filter("walker.pedestrian.*") + prop_bps = lib.filter("static.prop.*") + + ids = {category: [] for category in ALL_CATEGORY_KEYS} + dims = {} + + def add_group(bps, category_for_bp): + for bp in bps: + category = category_for_bp(bp) + if not category: + continue + ids[category].append(bp.id) + md = measure_dims(world, bp) + if md: + dims[bp.id] = md + + add_group(vehicle_bps, categorize_vehicle) + add_group(walker_bps, lambda bp: WALKER_CATEGORY) + add_group(prop_bps, categorize_prop) + + out_obj = { + "server_version": server_version, + "ids": ids, + "dims": dims, + } + out_path = SNAPSHOT_DIR / f"blueprints_{server_version}.json" + with open(out_path, "w", encoding="utf-8") as f: + json.dump(out_obj, f, indent=2) + print(f"[OK] Wrote {out_path}") + + finally: + if server_process_name: + subprocess.run(f"killall -9 {server_process_name}", shell=True) + + +if __name__ == "__main__": + main() diff --git a/tools/carla/snapshots/blueprints_0.10.0.json b/tools/carla/snapshots/blueprints_0.10.0.json new file mode 100644 index 000000000..2a6fb51a3 --- /dev/null +++ b/tools/carla/snapshots/blueprints_0.10.0.json @@ -0,0 +1,656 @@ +{ + "server_version": "0.10.0", + "ids": { + "carModels": [ + "vehicle.taxi.ford", + "vehicle.nissan.patrol", + "vehicle.dodgecop.charger", + "vehicle.dodge.charger", + "vehicle.mini.cooper", + "vehicle.lincoln.mkz" + ], + "bicycleModels": [], + "motorcycleModels": [], + "truckModels": [ + "vehicle.carlacola.actors", + "vehicle.firetruck.actors", + "vehicle.ambulance.ford" + ], + "vanModels": [], + "busModels": [ + "vehicle.fuso.mitsubishi" + ], + "walkerModels": [ + "walker.pedestrian.0049", + "walker.pedestrian.0050", + "walker.pedestrian.0048", + "walker.pedestrian.0029", + "walker.pedestrian.0040", + "walker.pedestrian.0025", + "walker.pedestrian.0023", + "walker.pedestrian.0046", + "walker.pedestrian.0044", + "walker.pedestrian.0039", + "walker.pedestrian.0051", + "walker.pedestrian.0028", + "walker.pedestrian.0017", + "walker.pedestrian.0026", + "walker.pedestrian.0016", + "walker.pedestrian.0038", + "walker.pedestrian.0015", + "walker.pedestrian.0037", + "walker.pedestrian.0047", + "walker.pedestrian.0034", + "walker.pedestrian.0031", + "walker.pedestrian.0033", + "walker.pedestrian.0032", + "walker.pedestrian.0041", + "walker.pedestrian.0030", + "walker.pedestrian.0035", + "walker.pedestrian.0036", + "walker.pedestrian.0027", + "walker.pedestrian.0024", + "walker.pedestrian.0045", + "walker.pedestrian.0022", + "walker.pedestrian.0019", + "walker.pedestrian.0021", + "walker.pedestrian.0020", + "walker.pedestrian.0043", + "walker.pedestrian.0018", + "walker.pedestrian.0042" + ], + "trashModels": [ + "static.prop.trashcan03", + "static.prop.trashcan02", + "static.prop.trashcan04", + "static.prop.trashcan01" + ], + "coneModels": [ + "static.prop.trafficcone01", + "static.prop.trafficcone02", + "static.prop.constructioncone" + ], + "debrisModels": [ + "static.prop.dirtdebris03", + "static.prop.dirtdebris02", + "static.prop.dirtdebris01" + ], + "vendingMachineModels": [ + "static.prop.vendingmachine" + ], + "chairModels": [ + "static.prop.plasticchair" + ], + "busStopModels": [ + "static.prop.busstop" + ], + "advertisementModels": [ + "static.prop.streetsign01", + "static.prop.advertisement", + "static.prop.streetsign04", + "static.prop.streetsign" + ], + "garbageModels": [ + "static.prop.garbage02", + "static.prop.garbage01", + "static.prop.plasticbag", + "static.prop.colacan", + "static.prop.garbage06", + "static.prop.platformgarbage01", + "static.prop.garbage04", + "static.prop.garbage03", + "static.prop.trashbag", + "static.prop.garbage05" + ], + "containerModels": [ + "static.prop.container" + ], + "tableModels": [ + "static.prop.maptable", + "static.prop.plastictable" + ], + "barrierModels": [ + "static.prop.streetbarrier", + "static.prop.chainbarrierend", + "static.prop.chainbarrier" + ], + "plantpotModels": [ + "static.prop.plantpot02", + "static.prop.plantpot06", + "static.prop.plantpot03", + "static.prop.plantpot07", + "static.prop.plantpot01", + "static.prop.plantpot05", + "static.prop.plantpot04" + ], + "mailboxModels": [ + "static.prop.mailbox" + ], + "gnomeModels": [ + "static.prop.gnome" + ], + "creasedboxModels": [ + "static.prop.creasedbox01" + ], + "caseModels": [ + "static.prop.guitarcase", + "static.prop.travelcase", + "static.prop.briefcase" + ], + "boxModels": [], + "benchModels": [ + "static.prop.bench01", + "static.prop.bench02" + ], + "barrelModels": [ + "static.prop.barrel" + ], + "atmModels": [ + "static.prop.atm" + ], + "kioskModels": [ + "static.prop.kiosk_01" + ], + "ironplateModels": [], + "trafficwarningModels": [ + "static.prop.trafficwarning" + ] + }, + "dims": { + "vehicle.taxi.ford": { + "width": 1.7890609502792358, + "length": 5.354491233825684, + "height": 1.575230598449707 + }, + "vehicle.carlacola.actors": { + "width": 2.9117815494537354, + "length": 8.003673553466797, + "height": 4.054566383361816 + }, + "vehicle.firetruck.actors": { + "width": 2.90128493309021, + "length": 8.579916000366211, + "height": 3.8267812728881836 + }, + "vehicle.fuso.mitsubishi": { + "width": 3.927680492401123, + "length": 10.174287796020508, + "height": 4.241000652313232 + }, + "vehicle.nissan.patrol": { + "width": 2.1466238498687744, + "length": 5.591163635253906, + "height": 2.05902099609375 + }, + "vehicle.ambulance.ford": { + "width": 2.3511743545532227, + "length": 6.356935024261475, + "height": 2.431001663208008 + }, 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"static.prop.plantpot02": { + "width": 0.43072694540023804, + "length": 1.0511938333511353, + "height": 0.48695310950279236 + }, + "static.prop.briefcase": { + "width": 0.18117640912532806, + "length": 0.543353796005249, + "height": 0.43281248211860657 + }, + "static.prop.bench03": { + "width": 0.5126523971557617, + "length": 1.58349609375, + "height": 0.5126562118530273 + }, + "static.prop.busstoplb": { + "width": 3.8760783672332764, + "length": 1.893609881401062, + "height": 2.738906145095825 + } + } +} \ No newline at end of file From a8f6fefaf5d8ebb611c0a8b5c2489517b7351d36 Mon Sep 17 00:00:00 2001 From: Lola Marrero Date: Tue, 28 Oct 2025 16:31:55 -0700 Subject: [PATCH 2/5] add 0.9.14 and 0.9.16 blueprints get dimensions for all blueprints fallback for 0.9.14 0.0 dims bug hard-code blueprint vehs with no base_type --- src/scenic/simulators/carla/blueprints.py | 3281 ++++++++++++++++-- src/scenic/simulators/carla/model.scenic | 10 +- tools/carla/make_blueprints.py | 46 +- tools/carla/snapshot_blueprints.py | 46 +- tools/carla/snapshots/blueprints_0.10.0.json | 159 +- tools/carla/snapshots/blueprints_0.9.14.json | 1142 ++++++ tools/carla/snapshots/blueprints_0.9.15.json | 159 +- tools/carla/snapshots/blueprints_0.9.16.json | 1181 +++++++ 8 files changed, 5643 insertions(+), 381 deletions(-) create mode 100644 tools/carla/snapshots/blueprints_0.9.14.json create mode 100644 tools/carla/snapshots/blueprints_0.9.16.json diff --git a/src/scenic/simulators/carla/blueprints.py b/src/scenic/simulators/carla/blueprints.py index 0acaff708..8a7fc873c 100644 --- a/src/scenic/simulators/carla/blueprints.py +++ b/src/scenic/simulators/carla/blueprints.py @@ -4,6 +4,7 @@ """CARLA blueprints for cars, pedestrians, etc.""" from importlib.metadata import PackageNotFoundError, version as _pkg_version +import warnings from scenic.core.errors import InvalidScenarioError @@ -33,6 +34,11 @@ def _pick(vermap, ver): return vermap[best] # 3) Otherwise, use the newest version. best = max(vermap.keys(), key=_verkey) + if ver != "0.0.0": + warnings.warn( + f"Unknown CARLA version {ver}; using blueprints for {best}." + "Scenic may not have the correct set of blueprints." + ) return vermap[best] @@ -130,7 +136,7 @@ def _pick(vermap, ver): "vehicle.carlacola.actors", "vehicle.firetruck.actors", ], - "vanModels": [], + "vanModels": ["vehicle.sprinter.mercedes"], "vendingMachineModels": ["static.prop.vendingmachine"], "walkerModels": [ "walker.pedestrian.0015", @@ -172,6 +178,200 @@ def _pick(vermap, ver): "walker.pedestrian.0051", ], }, + "0.9.16": { + "advertisementModels": [ + "static.prop.advertisement", + "static.prop.streetsign", + "static.prop.streetsign01", + "static.prop.streetsign04", + ], + "atmModels": ["static.prop.atm"], + "barrelModels": ["static.prop.barrel"], + "barrierModels": [ + "static.prop.chainbarrier", + "static.prop.chainbarrierend", + "static.prop.streetbarrier", + ], + "benchModels": [ + "static.prop.bench01", + "static.prop.bench02", + "static.prop.bench03", + ], + "bicycleModels": [ + "vehicle.bh.crossbike", + "vehicle.diamondback.century", + "vehicle.gazelle.omafiets", + ], + "boxModels": ["static.prop.box01", "static.prop.box02", "static.prop.box03"], + "busModels": ["vehicle.mitsubishi.fusorosa"], + "busStopModels": ["static.prop.busstop", "static.prop.busstoplb"], + "carModels": [ + "vehicle.audi.a2", + "vehicle.audi.etron", + "vehicle.audi.tt", + "vehicle.bmw.grandtourer", + "vehicle.chevrolet.impala", + "vehicle.citroen.c3", + "vehicle.dodge.charger_2020", + "vehicle.dodge.charger_police", + "vehicle.dodge.charger_police_2020", + "vehicle.ford.crown", + "vehicle.ford.mustang", + "vehicle.jeep.wrangler_rubicon", + "vehicle.lincoln.mkz_2017", + "vehicle.lincoln.mkz_2020", + "vehicle.mercedes.coupe", + "vehicle.mercedes.coupe_2020", + "vehicle.micro.microlino", + "vehicle.mini.cooper_s", + "vehicle.mini.cooper_s_2021", + "vehicle.nissan.micra", + "vehicle.nissan.patrol", + "vehicle.nissan.patrol_2021", + "vehicle.seat.leon", + "vehicle.tesla.model3", + "vehicle.toyota.prius", + ], + "caseModels": [ + "static.prop.briefcase", + "static.prop.guitarcase", + "static.prop.travelcase", + ], + "chairModels": ["static.prop.plasticchair"], + "coneModels": [ + "static.prop.constructioncone", + "static.prop.trafficcone01", + "static.prop.trafficcone02", + ], + "containerModels": [ + "static.prop.clothcontainer", + "static.prop.container", + "static.prop.glasscontainer", + ], + "creasedboxModels": [ + "static.prop.creasedbox01", + "static.prop.creasedbox02", + "static.prop.creasedbox03", + ], + "debrisModels": [ + "static.prop.dirtdebris01", + "static.prop.dirtdebris02", + "static.prop.dirtdebris03", + ], + "garbageModels": [ + "static.prop.colacan", + "static.prop.garbage01", + "static.prop.garbage02", + "static.prop.garbage03", + "static.prop.garbage04", + "static.prop.garbage05", + "static.prop.garbage06", + "static.prop.plasticbag", + "static.prop.platformgarbage01", + "static.prop.trashbag", + ], + "gnomeModels": ["static.prop.gnome"], + "ironplateModels": ["static.prop.ironplank"], + "kioskModels": ["static.prop.kiosk_01"], + "mailboxModels": ["static.prop.mailbox"], + "motorcycleModels": [ + "vehicle.harley-davidson.low_rider", + "vehicle.kawasaki.ninja", + "vehicle.vespa.zx125", + "vehicle.yamaha.yzf", + ], + "plantpotModels": [ + "static.prop.plantpot01", + "static.prop.plantpot02", + "static.prop.plantpot03", + "static.prop.plantpot04", + "static.prop.plantpot05", + "static.prop.plantpot06", + "static.prop.plantpot07", + "static.prop.plantpot08", + ], + "tableModels": [ + "static.prop.maptable", + "static.prop.plastictable", + "static.prop.table", + ], + "trafficwarningModels": ["static.prop.trafficwarning"], + "trashModels": [ + "static.prop.bin", + "static.prop.trashcan01", + "static.prop.trashcan02", + "static.prop.trashcan03", + "static.prop.trashcan04", + "static.prop.trashcan05", + ], + "truckModels": [ + "vehicle.carlamotors.carlacola", + "vehicle.carlamotors.european_hgv", + "vehicle.carlamotors.firetruck", + "vehicle.tesla.cybertruck", + ], + "vanModels": [ + "vehicle.ford.ambulance", + "vehicle.mercedes.sprinter", + "vehicle.volkswagen.t2", + "vehicle.volkswagen.t2_2021", + ], + "vendingMachineModels": ["static.prop.vendingmachine"], + "walkerModels": [ + "walker.pedestrian.0001", + "walker.pedestrian.0002", + "walker.pedestrian.0003", + "walker.pedestrian.0004", + "walker.pedestrian.0005", + "walker.pedestrian.0006", + "walker.pedestrian.0007", + "walker.pedestrian.0008", + "walker.pedestrian.0009", + "walker.pedestrian.0010", + "walker.pedestrian.0011", + "walker.pedestrian.0012", + "walker.pedestrian.0013", + "walker.pedestrian.0014", + "walker.pedestrian.0015", + "walker.pedestrian.0016", + "walker.pedestrian.0017", + "walker.pedestrian.0018", + "walker.pedestrian.0019", + "walker.pedestrian.0020", + "walker.pedestrian.0021", + "walker.pedestrian.0022", + "walker.pedestrian.0023", + "walker.pedestrian.0024", + "walker.pedestrian.0025", + "walker.pedestrian.0026", + "walker.pedestrian.0027", + "walker.pedestrian.0028", + "walker.pedestrian.0029", + "walker.pedestrian.0030", + "walker.pedestrian.0031", + "walker.pedestrian.0032", + "walker.pedestrian.0033", + "walker.pedestrian.0034", + "walker.pedestrian.0035", + "walker.pedestrian.0036", + "walker.pedestrian.0037", + "walker.pedestrian.0038", + "walker.pedestrian.0039", + "walker.pedestrian.0040", + "walker.pedestrian.0041", + "walker.pedestrian.0042", + "walker.pedestrian.0043", + "walker.pedestrian.0044", + "walker.pedestrian.0045", + "walker.pedestrian.0046", + "walker.pedestrian.0047", + "walker.pedestrian.0048", + "walker.pedestrian.0049", + "walker.pedestrian.0050", + "walker.pedestrian.0051", + "walker.pedestrian.0052", + ], + }, "0.9.15": { "advertisementModels": [ "static.prop.advertisement", @@ -203,6 +403,7 @@ def _pick(vermap, ver): "vehicle.audi.a2", "vehicle.audi.etron", "vehicle.audi.tt", + "vehicle.bmw.grandtourer", "vehicle.chevrolet.impala", "vehicle.citroen.c3", "vehicle.dodge.charger_2020", @@ -216,6 +417,7 @@ def _pick(vermap, ver): "vehicle.mercedes.coupe", "vehicle.mercedes.coupe_2020", "vehicle.micro.microlino", + "vehicle.mini.cooper_s", "vehicle.mini.cooper_s_2021", "vehicle.nissan.micra", "vehicle.nissan.patrol", @@ -363,507 +565,2746 @@ def _pick(vermap, ver): "walker.pedestrian.0051", ], }, -} - -_DIMS = { - "0.10.0": { - "static.prop.advertisement": { - "width": 0.28684958815574646, - "length": 1.549233317375183, - "height": 2.4428441524505615, - }, - "static.prop.atm": { - "width": 0.8325381278991699, - "length": 0.5721203684806824, - "height": 2.194814443588257, - }, - "static.prop.barrel": { - "width": 0.47143638134002686, - "length": 0.4596165418624878, - "height": 0.8067459464073181, - }, - "static.prop.bench01": { - "width": 0.6381909847259521, - "length": 1.7933329343795776, - "height": 1.0038363933563232, - }, - "static.prop.bench02": { - "width": 0.5126523971557617, - "length": 1.58349609375, - "height": 0.5126523971557617, - }, - "static.prop.briefcase": { - "width": 0.18117640912532806, - "length": 0.543353796005249, - "height": 0.43285050988197327, - }, - "static.prop.busstop": { - "width": 3.8760786056518555, - "length": 1.8936100006103516, - "height": 2.738938331604004, - }, - "static.prop.chainbarrier": { - "width": 0.24313338100910187, - "length": 1.6833475828170776, - "height": 0.6920976042747498, - }, - "static.prop.chainbarrierend": { - "width": 0.24313338100910187, - "length": 0.24313347041606903, - "height": 0.6920976042747498, - }, - "static.prop.colacan": { - "width": 0.07167824357748032, - "length": 0.06817007064819336, - "height": 0.10954885929822922, - }, - "static.prop.constructioncone": { - "width": 0.4784207046031952, - "length": 0.478452205657959, - "height": 0.7117974162101746, - }, - "static.prop.container": { - "width": 1.6529669761657715, - "length": 5.399704933166504, - "height": 1.3477081060409546, - }, - "static.prop.creasedbox01": { - "width": 0.9068000316619873, + "0.9.14": { + "advertisementModels": [ + "static.prop.advertisement", + "static.prop.streetsign", + "static.prop.streetsign01", + "static.prop.streetsign04", + ], + "atmModels": ["static.prop.atm"], + "barrelModels": ["static.prop.barrel"], + "barrierModels": [ + "static.prop.chainbarrier", + "static.prop.chainbarrierend", + "static.prop.streetbarrier", + ], + "benchModels": [ + "static.prop.bench01", + "static.prop.bench02", + "static.prop.bench03", + ], + "bicycleModels": [ + "vehicle.bh.crossbike", + "vehicle.diamondback.century", + "vehicle.gazelle.omafiets", + ], + "boxModels": ["static.prop.box01", "static.prop.box02", "static.prop.box03"], + "busModels": ["vehicle.mitsubishi.fusorosa"], + "busStopModels": ["static.prop.busstop", "static.prop.busstoplb"], + "carModels": [ + "vehicle.audi.a2", + "vehicle.audi.etron", + "vehicle.audi.tt", + "vehicle.bmw.grandtourer", + "vehicle.chevrolet.impala", + "vehicle.citroen.c3", + "vehicle.dodge.charger_2020", + "vehicle.dodge.charger_police", + "vehicle.dodge.charger_police_2020", + "vehicle.ford.crown", + "vehicle.ford.mustang", + "vehicle.jeep.wrangler_rubicon", + "vehicle.lincoln.mkz_2017", + "vehicle.lincoln.mkz_2020", + "vehicle.mercedes.coupe", + "vehicle.mercedes.coupe_2020", + "vehicle.micro.microlino", + "vehicle.mini.cooper_s", + "vehicle.mini.cooper_s_2021", + "vehicle.nissan.micra", + "vehicle.nissan.patrol", + "vehicle.nissan.patrol_2021", + "vehicle.seat.leon", + "vehicle.tesla.model3", + "vehicle.toyota.prius", + ], + "caseModels": [ + "static.prop.briefcase", + "static.prop.guitarcase", + "static.prop.travelcase", + ], + "chairModels": ["static.prop.plasticchair"], + "coneModels": [ + "static.prop.constructioncone", + "static.prop.trafficcone01", + "static.prop.trafficcone02", + ], + "containerModels": [ + "static.prop.clothcontainer", + "static.prop.container", + "static.prop.glasscontainer", + ], + "creasedboxModels": [ + "static.prop.creasedbox01", + "static.prop.creasedbox02", + "static.prop.creasedbox03", + ], + "debrisModels": [ + "static.prop.dirtdebris01", + "static.prop.dirtdebris02", + "static.prop.dirtdebris03", + ], + "garbageModels": [ + "static.prop.colacan", + "static.prop.garbage01", + "static.prop.garbage02", + "static.prop.garbage03", + "static.prop.garbage04", + "static.prop.garbage05", + "static.prop.garbage06", + "static.prop.plasticbag", + "static.prop.platformgarbage01", + "static.prop.trashbag", + ], + "gnomeModels": ["static.prop.gnome"], + "ironplateModels": ["static.prop.ironplank"], + "kioskModels": ["static.prop.kiosk_01"], + "mailboxModels": ["static.prop.mailbox"], + "motorcycleModels": [ + "vehicle.harley-davidson.low_rider", + "vehicle.kawasaki.ninja", + "vehicle.vespa.zx125", + "vehicle.yamaha.yzf", + ], + "plantpotModels": [ + "static.prop.plantpot01", + "static.prop.plantpot02", + "static.prop.plantpot03", + "static.prop.plantpot04", + "static.prop.plantpot05", + "static.prop.plantpot06", + "static.prop.plantpot07", + "static.prop.plantpot08", + ], + "tableModels": [ + "static.prop.maptable", + "static.prop.plastictable", + "static.prop.table", + ], + "trafficwarningModels": ["static.prop.trafficwarning"], + "trashModels": [ + "static.prop.bin", + "static.prop.trashcan01", + "static.prop.trashcan02", + "static.prop.trashcan03", + "static.prop.trashcan04", + "static.prop.trashcan05", + ], + "truckModels": [ + "vehicle.carlamotors.carlacola", + "vehicle.carlamotors.firetruck", + "vehicle.tesla.cybertruck", + ], + "vanModels": [ + "vehicle.ford.ambulance", + "vehicle.mercedes.sprinter", + "vehicle.volkswagen.t2", + "vehicle.volkswagen.t2_2021", + ], + "vendingMachineModels": ["static.prop.vendingmachine"], + "walkerModels": [ + "walker.pedestrian.0001", + "walker.pedestrian.0002", + "walker.pedestrian.0003", + "walker.pedestrian.0004", + "walker.pedestrian.0005", + "walker.pedestrian.0006", + "walker.pedestrian.0007", + "walker.pedestrian.0008", + "walker.pedestrian.0009", + "walker.pedestrian.0010", + "walker.pedestrian.0011", + "walker.pedestrian.0012", + "walker.pedestrian.0013", + "walker.pedestrian.0014", + "walker.pedestrian.0015", + "walker.pedestrian.0016", + "walker.pedestrian.0017", + "walker.pedestrian.0018", + "walker.pedestrian.0019", + "walker.pedestrian.0020", + "walker.pedestrian.0021", + "walker.pedestrian.0022", + "walker.pedestrian.0023", + "walker.pedestrian.0024", + "walker.pedestrian.0025", + "walker.pedestrian.0026", + "walker.pedestrian.0027", + "walker.pedestrian.0028", + "walker.pedestrian.0029", + "walker.pedestrian.0030", + "walker.pedestrian.0031", + "walker.pedestrian.0032", + "walker.pedestrian.0033", + "walker.pedestrian.0034", + "walker.pedestrian.0035", + "walker.pedestrian.0036", + "walker.pedestrian.0037", + "walker.pedestrian.0038", + "walker.pedestrian.0039", + "walker.pedestrian.0040", + "walker.pedestrian.0041", + "walker.pedestrian.0042", + "walker.pedestrian.0043", + "walker.pedestrian.0044", + "walker.pedestrian.0045", + "walker.pedestrian.0046", + "walker.pedestrian.0047", + "walker.pedestrian.0048", + "walker.pedestrian.0049", + ], + }, +} + +_DIMS = { + "0.10.0": { + "static.prop.advertisement": { + "width": 0.28684958815574646, + "length": 1.549233317375183, + "height": 2.4428441524505615, + }, + "static.prop.atm": { + "width": 0.8325381278991699, + "length": 0.5721203684806824, + "height": 2.194814443588257, + }, + "static.prop.barbeque": { + "width": 0.49884626269340515, + "length": 0.9456468820571899, + "height": 1.2640891075134277, + }, + "static.prop.barrel": { + "width": 0.47143638134002686, + "length": 0.4596165418624878, + "height": 0.8067459464073181, + }, + "static.prop.bench01": { + "width": 0.6381909847259521, + "length": 1.7933329343795776, + "height": 1.0038363933563232, + }, + "static.prop.bench02": { + "width": 0.5126523971557617, + "length": 1.58349609375, + "height": 0.5126523971557617, + }, + "static.prop.bike helmet": { + "width": 0.2770470678806305, + "length": 0.18554961681365967, + "height": 0.1712976098060608, + }, + "static.prop.briefcase": { + "width": 0.18117640912532806, + "length": 0.543353796005249, + "height": 0.43285050988197327, + }, + "static.prop.brokentile01": { + "width": 0.1760428547859192, + "length": 0.13444176316261292, + "height": 0.006563859060406685, + }, + "static.prop.brokentile02": { + "width": 0.15229617059230804, + "length": 0.20967701077461243, + "height": 0.007594939786940813, + }, + "static.prop.brokentile03": { + "width": 0.1449233442544937, + "length": 0.1544525921344757, + "height": 0.008505801670253277, + }, + "static.prop.brokentile04": { + "width": 0.12647496163845062, + "length": 0.12972931563854218, + "height": 0.01014416478574276, + }, + "static.prop.busstop": { + "width": 3.8760786056518555, + "length": 1.8936100006103516, + "height": 2.738938331604004, + }, + "static.prop.calibrator": { + "width": 0.690200924873352, + "length": 1.5475953817367554, + "height": 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1.8299999237060547, + "height": 1.8600000143051147, }, "walker.pedestrian.0043": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.8299999237060547, + "height": 1.8600000143051147, }, "walker.pedestrian.0044": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.8299999237060547, + "height": 1.8600000143051147, }, "walker.pedestrian.0045": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.8499999046325684, + "height": 1.8600000143051147, }, "walker.pedestrian.0046": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.8499999046325684, + "height": 1.8600000143051147, }, "walker.pedestrian.0047": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.8499999046325684, + "height": 1.8600000143051147, }, "walker.pedestrian.0048": { "width": 0.5, "length": 0.5, - "height": 1.1100000143051147, + "height": 1.100000023841858, }, "walker.pedestrian.0049": { "width": 0.5, "length": 0.5, - "height": 1.1100000143051147, + "height": 1.100000023841858, }, "walker.pedestrian.0050": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.9049999713897705, + "height": 1.8600000143051147, }, "walker.pedestrian.0051": { "width": 0.3753577768802643, "length": 0.3753577768802643, - "height": 1.9049999713897705, + "height": 1.8600000143051147, }, }, - "0.9.15": { + "0.9.14": { "static.prop.advertisement": { "width": 0.28684958815574646, "length": 1.549233317375183, @@ -874,6 +3315,11 @@ def _pick(vermap, ver): "length": 0.7131599187850952, "height": 2.2757811546325684, }, + "static.prop.barbeque": { + "width": 0.49884626269340515, + "length": 0.9456468820571899, + "height": 1.264062523841858, + }, "static.prop.barrel": { "width": 0.47143638134002686, "length": 0.4596165418624878, @@ -894,6 +3340,11 @@ def _pick(vermap, ver): "length": 1.58349609375, "height": 0.5126562118530273, }, + "static.prop.bike helmet": { + "width": 0.2770470678806305, + "length": 0.18554961681365967, + "height": 0.1713281273841858, + }, "static.prop.bin": { "width": 0.6381588578224182, "length": 0.548203706741333, @@ -919,6 +3370,26 @@ def _pick(vermap, ver): "length": 0.543353796005249, "height": 0.43281248211860657, }, + "static.prop.brokentile01": { + "width": 0.1760428547859192, + "length": 0.13444174826145172, + "height": 0.006562499795109034, + }, + "static.prop.brokentile02": { + "width": 0.15229617059230804, + "length": 0.20967696607112885, + "height": 0.007578124757856131, + }, + "static.prop.brokentile03": { + "width": 0.1449233442544937, + "length": 0.15445251762866974, + "height": 0.008515625260770321, + }, + "static.prop.brokentile04": { + "width": 0.12647496163845062, + "length": 0.12972931563854218, + "height": 0.01015624962747097, + }, "static.prop.busstop": { "width": 1.893609881401062, "length": 3.8760783672332764, @@ -929,6 +3400,11 @@ def _pick(vermap, ver): "length": 1.893609881401062, "height": 2.738906145095825, }, + "static.prop.calibrator": { + "width": 0.690200924873352, + "length": 1.5475953817367554, + "height": 0.20195311307907104, + }, "static.prop.chainbarrier": { "width": 0.23859326541423798, "length": 1.4941967725753784, @@ -944,6 +3420,11 @@ def _pick(vermap, ver): "length": 1.2394330501556396, "height": 1.810156226158142, }, + "static.prop.clothesline": { + "width": 1.1180102825164795, + "length": 6.652331352233887, + "height": 2.0610156059265137, + }, "static.prop.colacan": { "width": 0.07167824357748032, "length": 0.06817007064819336, @@ -989,6 +3470,21 @@ def _pick(vermap, ver): "length": 1.8574368953704834, "height": 0.1883593648672104, }, + "static.prop.doghouse": { + "width": 1.2721054553985596, + "length": 1.0791168212890625, + "height": 1.0936717987060547, + }, + "static.prop.foodcart": { + "width": 4.638397693634033, + "length": 2.2846763134002686, + "height": 3.573124885559082, + }, + "static.prop.fountain": { + "width": 8.401816368103027, + "length": 8.401811599731445, + "height": 6.924375057220459, + }, "static.prop.garbage01": { "width": 0.05342773348093033, "length": 0.05342777073383331, @@ -1019,6 +3515,11 @@ def _pick(vermap, ver): "length": 0.3661772906780243, "height": 0.07679687440395355, }, + "static.prop.gardenlamp": { + "width": 0.28122183680534363, + "length": 0.2972412407398224, + "height": 0.6478124856948853, + }, "static.prop.glasscontainer": { "width": 2.0087928771972656, "length": 1.9547909498214722, @@ -1034,6 +3535,16 @@ def _pick(vermap, ver): "length": 1.242393970489502, "height": 0.494453102350235, }, + "static.prop.haybale": { + "width": 1.1933469772338867, + "length": 1.247710943222046, + "height": 1.1949999332427979, + }, + "static.prop.haybalelb": { + "width": 1.1933469772338867, + "length": 1.247710943222046, + "height": 1.1949999332427979, + }, "static.prop.ironplank": { "width": 1.1743810176849365, "length": 1.45187246799469, @@ -1054,6 +3565,21 @@ def _pick(vermap, ver): "length": 1.5732090473175049, "height": 1.181093692779541, }, + "static.prop.mobile": { + "width": 0.007261085323989391, + "length": 0.08048340678215027, + "height": 0.16640624403953552, + }, + "static.prop.motorhelmet": { + "width": 0.2592744827270508, + "length": 0.20041197538375854, + "height": 0.2581250071525574, + }, + "static.prop.pergola": { + "width": 5.085033893585205, + "length": 5.029393672943115, + "height": 3.54156231880188, + }, "static.prop.plantpot01": { "width": 0.4757719337940216, "length": 1.08914053440094, @@ -1114,11 +3640,41 @@ def _pick(vermap, ver): "length": 3.6332411766052246, "height": 0.33156248927116394, }, + "static.prop.purse": { + "width": 0.3326959013938904, + "length": 0.15921516716480255, + "height": 0.5852343440055847, + }, + "static.prop.shoppingbag": { + "width": 0.2432928830385208, + "length": 0.47446563839912415, + "height": 0.6006249785423279, + }, + "static.prop.shoppingcart": { + "width": 1.207547903060913, + "length": 0.6694015264511108, + "height": 1.0792968273162842, + }, + "static.prop.shoppingtrolley": { + "width": 0.33110183477401733, + "length": 0.5055894255638123, + "height": 1.0936717987060547, + }, + "static.prop.slide": { + "width": 4.122486591339111, + "length": 0.9425268173217773, + "height": 1.9766405820846558, + }, "static.prop.streetbarrier": { "width": 0.3716789782047272, "length": 1.2149077653884888, "height": 1.0691405534744263, }, + "static.prop.streetfountain": { + "width": 0.6702813506126404, + "length": 0.2869437038898468, + "height": 1.259374976158142, + }, "static.prop.streetsign": { "width": 0.1252390295267105, "length": 1.0643447637557983, @@ -1134,6 +3690,16 @@ def _pick(vermap, ver): "length": 1.1708152294158936, "height": 2.772890567779541, }, + "static.prop.swing": { + "width": 1.5768225193023682, + "length": 4.105227947235107, + "height": 2.572499990463257, + }, + "static.prop.swingcouch": { + "width": 2.362380266189575, + "length": 1.357409954071045, + "height": 2.2493748664855957, + }, "static.prop.table": { "width": 2.1518361568450928, "length": 2.1562821865081787, @@ -1154,6 +3720,11 @@ def _pick(vermap, ver): "length": 2.373429536819458, "height": 3.569531202316284, }, + "static.prop.trampoline": { + "width": 4.131584644317627, + "length": 4.131584644317627, + "height": 2.801874876022339, + }, "static.prop.trashbag": { "width": 0.42955997586250305, "length": 0.3779701590538025, @@ -1194,6 +3765,21 @@ def _pick(vermap, ver): "length": 0.8728882670402527, "height": 2.108203172683716, }, + "static.prop.warningaccident": { + "width": 1.055053472518921, + "length": 1.3050163984298706, + "height": 1.8602343797683716, + }, + "static.prop.warningconstruction": { + "width": 1.055053472518921, + "length": 1.3050163984298706, + "height": 1.8602343797683716, + }, + "static.prop.wateringcan": { + "width": 0.19403739273548126, + "length": 0.07035235315561295, + "height": 0.13484375178813934, + }, "vehicle.audi.a2": { "width": 1.788678526878357, "length": 3.705369472503662, @@ -1210,20 +3796,20 @@ def _pick(vermap, ver): "height": 1.385296106338501, }, "vehicle.bh.crossbike": { - "width": 0.8659406304359436, - "length": 1.5093227624893188, - "height": 1.6123536825180054, + "width": 0.7165295481681824, + "length": 0.0, + "height": 0.0, + }, + "vehicle.bmw.grandtourer": { + "width": 2.241713285446167, + "length": 4.611005783081055, + "height": 1.6672759056091309, }, "vehicle.carlamotors.carlacola": { "width": 2.6269896030426025, "length": 5.203838348388672, "height": 2.467444658279419, }, - "vehicle.carlamotors.european_hgv": { - "width": 2.8910882472991943, - "length": 7.935710430145264, - "height": 3.4619433879852295, - }, "vehicle.carlamotors.firetruck": { "width": 2.8910882472991943, "length": 8.46804141998291, @@ -1239,11 +3825,7 @@ def _pick(vermap, ver): "length": 3.987684965133667, "height": 1.6171095371246338, }, - "vehicle.diamondback.century": { - "width": 0.5824381709098816, - "length": 1.6562436819076538, - "height": 1.6197669506072998, - }, + "vehicle.diamondback.century": {"width": 0.0, "length": 0.0, "height": 0.0}, "vehicle.dodge.charger_2020": { "width": 1.8816219568252563, "length": 5.0078253746032715, @@ -1274,15 +3856,11 @@ def _pick(vermap, ver): "length": 4.717525005340576, "height": 1.300939917564392, }, - "vehicle.gazelle.omafiets": { - "width": 0.6590427160263062, - "length": 1.843441367149353, - "height": 1.7758288383483887, - }, + "vehicle.gazelle.omafiets": {"width": 0.0, "length": 0.0, "height": 0.0}, "vehicle.harley-davidson.low_rider": { - "width": 0.7662330269813538, - "length": 2.350175619125366, - "height": 1.6494941711425781, + "width": 0.7457675933837891, + "length": 0.0, + "height": 0.0, }, "vehicle.jeep.wrangler_rubicon": { "width": 1.9051965475082397, @@ -1290,9 +3868,9 @@ def _pick(vermap, ver): "height": 1.8779358863830566, }, "vehicle.kawasaki.ninja": { - "width": 0.7969123125076294, - "length": 2.043684244155884, - "height": 1.523191213607788, + "width": 0.6402643918991089, + "length": 0.0, + "height": 0.0, }, "vehicle.lincoln.mkz_2017": { "width": 2.128324270248413, @@ -1324,6 +3902,11 @@ def _pick(vermap, ver): "length": 2.2072951793670654, "height": 1.3760247230529785, }, + "vehicle.mini.cooper_s": { + "width": 1.970275640487671, + "length": 3.805800199508667, + "height": 1.4750301837921143, + }, "vehicle.mini.cooper_s_2021": { "width": 2.097072124481201, "length": 4.552699089050293, @@ -1370,9 +3953,9 @@ def _pick(vermap, ver): "height": 1.5248334407806396, }, "vehicle.vespa.zx125": { - "width": 0.8659406304359436, - "length": 1.8171066045761108, - "height": 1.5900908708572388, + "width": 0.7517611384391785, + "length": 0.0, + "height": 0.0, }, "vehicle.volkswagen.t2": { "width": 2.069315195083618, @@ -1384,11 +3967,7 @@ def _pick(vermap, ver): "length": 4.442183971405029, "height": 1.9872066974639893, }, - "vehicle.yamaha.yzf": { - "width": 0.8659172654151917, - "length": 2.1907684803009033, - "height": 1.530381441116333, - }, + "vehicle.yamaha.yzf": {"width": 0.652134358882904, "length": 0.0, "height": 0.0}, "walker.pedestrian.0001": { "width": 0.3753577768802643, "length": 0.3753577768802643, @@ -1634,16 +4213,6 @@ def _pick(vermap, ver): "length": 0.5, "height": 1.100000023841858, }, - "walker.pedestrian.0050": { - "width": 0.3753577768802643, - "length": 0.3753577768802643, - "height": 1.8600000143051147, - }, - "walker.pedestrian.0051": { - "width": 0.3753577768802643, - "length": 0.3753577768802643, - "height": 1.8600000143051147, - }, }, } @@ -1662,19 +4231,27 @@ def any_in(category): ) +def _get_dim(bp_id, key, default): + """Dimension lookup with fallback. + + CARLA 0.9.14 snapshots sometimes store 0.0 for certain blueprint dimensions; + treat missing/None/<=0 as unknown and return ``default`` instead. See CARLA issue #5841 + """ + rec = dims.get(bp_id) or {} + dim = rec.get(key) + return default if dim is None or dim <= 0 else dim + + def width(bp_id, default): - """Width for ``bp_id``, or ``default`` if unknown.""" - d = dims.get(bp_id) - return d["width"] if d else default + """Width; falls back to default if missing or <= 0.""" + return _get_dim(bp_id, "width", default) def length(bp_id, default): - """Length for ``bp_id``, or ``default`` if unknown.""" - d = dims.get(bp_id) - return d["length"] if d else default + """Length; falls back to default if missing or <= 0.""" + return _get_dim(bp_id, "length", default) def height(bp_id, default): - """Height for ``bp_id``, or ``default`` if unknown.""" - d = dims.get(bp_id) - return d["height"] if d else default + """Height; falls back to default if missing or <= 0.""" + return _get_dim(bp_id, "height", default) diff --git a/src/scenic/simulators/carla/model.scenic b/src/scenic/simulators/carla/model.scenic index 1b60dfbc1..87878de8b 100644 --- a/src/scenic/simulators/carla/model.scenic +++ b/src/scenic/simulators/carla/model.scenic @@ -208,14 +208,14 @@ class Motorcycle(Vehicle): class Truck(Vehicle): blueprint: Uniform(*bp.any_in("truck")) - width: bp.width(self.blueprint, 3) - length: bp.length(self.blueprint, 7) - height: bp.height(self.blueprint, 2.5) + width: bp.width(self.blueprint, 2.5) + length: bp.length(self.blueprint, 7.5) + height: bp.height(self.blueprint, 3) class Van(Vehicle): blueprint: Uniform(*bp.any_in("van")) width: bp.width(self.blueprint, 2) - length: bp.length(self.blueprint, 6) + length: bp.length(self.blueprint, 5) height: bp.height(self.blueprint, 2) class Bus(Vehicle): @@ -233,7 +233,7 @@ class Pedestrian(Pedestrian, CarlaActor, Walks, _CarlaPedestrian): blueprint: Uniform(*bp.any_in("walker")) width: bp.width(self.blueprint, 0.5) length: bp.length(self.blueprint, 0.5) - height: bp.height(self.blueprint, 0.5) + height: bp.height(self.blueprint, 1.5) carlaController: None def setWalkingDirection(self, heading): diff --git a/tools/carla/make_blueprints.py b/tools/carla/make_blueprints.py index 537458ad1..52f1d6991 100644 --- a/tools/carla/make_blueprints.py +++ b/tools/carla/make_blueprints.py @@ -25,7 +25,9 @@ """CARLA blueprints for cars, pedestrians, etc.""" -from importlib.metadata import version as _pkg_version, PackageNotFoundError +from importlib.metadata import PackageNotFoundError, version as _pkg_version +import warnings + from scenic.core.errors import InvalidScenarioError try: @@ -33,12 +35,14 @@ except PackageNotFoundError: _CARLA_VER = "0.0.0" # no carla package; default to newest known blueprints + def _verkey(s: str): # Handle '0.9.15', '0.10.0', '1.2' -> (major, minor, patch) - parts = [int(p) for p in s.split('.')] + parts = [int(p) for p in s.split(".")] parts += [0] * (3 - len(parts)) return tuple(parts[:3]) + def _pick(vermap, ver): """Choose the blueprint map for CARLA version""" # 1) Exact match @@ -52,8 +56,14 @@ def _pick(vermap, ver): return vermap[best] # 3) Otherwise, use the newest version. best = max(vermap.keys(), key=_verkey) + if ver != "0.0.0": + warnings.warn( + f"Unknown CARLA version {ver}; using blueprints for {best}." + "Scenic may not have the correct set of blueprints." + ) return vermap[best] + oldBlueprintNames = { # Map current names to legacy names "vehicle.dodge.charger_police": ("vehicle.dodge_charger.police",), @@ -66,9 +76,10 @@ def _pick(vermap, ver): FOOTER = '''\ -ids = _pick(_IDS, _CARLA_VER) +ids = _pick(_IDS, _CARLA_VER) dims = _pick(_DIMS, _CARLA_VER) + def any_in(category): """Return all blueprint IDs for a category; raise if none recorded.""" model = category + "Models" @@ -79,15 +90,32 @@ def any_in(category): f"Scenic has no '{category}' blueprints recorded for CARLA {_CARLA_VER}." ) + +def _get_dim(bp_id, key, default): + """Dimension lookup with fallback. + + CARLA 0.9.14 snapshots sometimes store 0.0 for certain blueprint dimensions; + treat missing/None/<=0 as unknown and return ``default`` instead. See CARLA issue #5841 + """ + rec = dims.get(bp_id) or {} + dim = rec.get(key) + return default if dim is None or dim <= 0 else dim + + def width(bp_id, default): - """Width for ``bp_id``, or ``default`` if unknown.""" - d = dims.get(bp_id); return d['width'] if d else default + """Width; falls back to default if missing or <= 0.""" + return _get_dim(bp_id, "width", default) + + def length(bp_id, default): - """Length for ``bp_id``, or ``default`` if unknown.""" - d = dims.get(bp_id); return d['length'] if d else default + """Length; falls back to default if missing or <= 0.""" + return _get_dim(bp_id, "length", default) + + def height(bp_id, default): - """Height for ``bp_id``, or ``default`` if unknown.""" - d = dims.get(bp_id); return d['height'] if d else default + """Height; falls back to default if missing or <= 0.""" + return _get_dim(bp_id, "height", default) + ''' diff --git a/tools/carla/snapshot_blueprints.py b/tools/carla/snapshot_blueprints.py index 703862186..42e8d8a4f 100644 --- a/tools/carla/snapshot_blueprints.py +++ b/tools/carla/snapshot_blueprints.py @@ -1,8 +1,11 @@ """Collect CARLA blueprint snapshots. -- Connects to (or launches) CARLA, enumerates vehicle/walker/prop blueprints, - and measures bounding-box dims. -- Writes snapshots/blueprints_.json. +- Connects to (or launches) CARLA. +- Measures dimensions for all ``vehicle.*``, ``walker.pedestrian.*``, and + ``static.prop.*`` blueprints. +- Categorizes blueprints for Scenic. +- Writes snapshots/blueprints_.json with: + {"server_version", "ids" (by category), "dims" (per blueprint id)}. Requires: CARLA_ROOT, HOST/PORT reachable. Usage: python tools/carla/make_snapshot.py @@ -93,6 +96,14 @@ def start_carla_if_needed(): "bus": "busModels", } +# Explicit fixes for empty base_type on known blueprints +VEHICLE_ID_TO_CATEGORY = { + "vehicle.kawasaki.ninja": "motorcycleModels", # base_type == "" in 0.9.14 + "vehicle.mini.cooper_s": "carModels", # base_type == "" in 0.9.15/0.9.16 + "vehicle.bmw.grandtourer": "carModels", # base_type == "" in 0.9.15/0.9.16 + "vehicle.sprinter.mercedes": "vanModels", # base_type == "" in 0.10.0 +} + PROP_CATEGORY_RULES = [ ("trashModels", ["trashcan", "bin"]), ("coneModels", ["cone"]), @@ -142,6 +153,10 @@ def get_dimensions_from_spawned(actor): def measure_dims(world, bp): import carla + # `static.prop.mesh` width/length/height == inf + if bp.id == "static.prop.mesh": + return None + tf = carla.Transform(carla.Location(x=0.0, y=0.0, z=500.0)) actor = None try: @@ -175,14 +190,20 @@ def categorize_vehicle(bp): file=sys.stderr, ) return None + val = bp.get_attribute("base_type").as_str().lower() category = VEHICLE_BASETYPE_TO_CATEGORY.get(val) - if not category: - print( - f"[WARN] vehicle blueprint '{bp.id}' has unsupported base_type='{val}'; skipping.", - file=sys.stderr, - ) - return category + if category: + return category + + # Fallback for the empty/unknown base_type case we know about + if bp.id in VEHICLE_ID_TO_CATEGORY: + return VEHICLE_ID_TO_CATEGORY[bp.id] + print( + f"[WARN] vehicle blueprint '{bp.id}' has unsupported base_type='{val}'; skipping.", + file=sys.stderr, + ) + return None def categorize_prop(bp): @@ -225,13 +246,12 @@ def main(): def add_group(bps, category_for_bp): for bp in bps: - category = category_for_bp(bp) - if not category: - continue - ids[category].append(bp.id) md = measure_dims(world, bp) if md: dims[bp.id] = md + category = category_for_bp(bp) + if category: + ids[category].append(bp.id) add_group(vehicle_bps, categorize_vehicle) add_group(walker_bps, lambda bp: WALKER_CATEGORY) diff --git a/tools/carla/snapshots/blueprints_0.10.0.json b/tools/carla/snapshots/blueprints_0.10.0.json index 2a6fb51a3..bd3c29bc7 100644 --- a/tools/carla/snapshots/blueprints_0.10.0.json +++ b/tools/carla/snapshots/blueprints_0.10.0.json @@ -16,7 +16,9 @@ "vehicle.firetruck.actors", "vehicle.ambulance.ford" ], - "vanModels": [], + "vanModels": [ + "vehicle.sprinter.mercedes" + ], "busModels": [ "vehicle.fuso.mitsubishi" ], @@ -177,6 +179,11 @@ "length": 10.174287796020508, "height": 4.241000652313232 }, + "vehicle.sprinter.mercedes": { + "width": 1.988406777381897, + "length": 5.9151387214660645, + "height": 2.7260189056396484 + }, "vehicle.nissan.patrol": { "width": 2.1466238498687744, "length": 5.591163635253906, @@ -392,11 +399,31 @@ "length": 0.3753577768802643, "height": 1.8299999237060547 }, + "static.prop.calibrator": { + "width": 0.690200924873352, + "length": 1.5475953817367554, + "height": 0.20195052027702332 + }, + "static.prop.doghouse": { + "width": 1.2721054553985596, + "length": 1.0791168212890625, + "height": 1.0936739444732666 + }, "static.prop.streetsign01": { "width": 0.3029319941997528, "length": 2.470391273498535, "height": 3.8779332637786865 }, + "static.prop.bike helmet": { + "width": 0.2770470678806305, + "length": 0.18554961681365967, + "height": 0.1712976098060608 + }, + "static.prop.warningconstruction": { + "width": 1.055053472518921, + "length": 1.3050163984298706, + "height": 1.8602019548416138 + }, "static.prop.plantpot02": { "width": 0.43072694540023804, "length": 1.0511938333511353, @@ -412,6 +439,21 @@ "length": 0.05342775210738182, "height": 0.009213896468281746 }, + "static.prop.recycleglass": { + "width": 1.7764321565628052, + "length": 1.0195367336273193, + "height": 1.943043828010559 + }, + "static.prop.dumpster": { + "width": 1.3943947553634644, + "length": 2.8662402629852295, + "height": 2.2673521041870117 + }, + "static.prop.fountain": { + "width": 8.401816368103027, + "length": 8.401811599731445, + "height": 6.924410343170166 + }, "static.prop.trafficwarning": { "width": 2.8705859184265137, "length": 2.373429536819458, @@ -422,6 +464,11 @@ "length": 0.053427763283252716, "height": 0.08676455914974213 }, + "static.prop.mobile": { + "width": 0.007261085323989391, + "length": 0.08048340678215027, + "height": 0.16641773283481598 + }, "static.prop.guitarcase": { "width": 0.1251685619354248, "length": 1.242393970489502, @@ -437,6 +484,26 @@ "length": 0.3109833598136902, "height": 0.5523712635040283 }, + "static.prop.recycleplastic": { + "width": 1.9872466325759888, + "length": 2.5890233516693115, + "height": 2.188204765319824 + }, + "static.prop.haybale": { + "width": 1.1933469772338867, + "length": 1.247710943222046, + "height": 1.1949762105941772 + }, + "static.prop.motorhelmet": { + "width": 0.2592744827270508, + "length": 0.20041197538375854, + "height": 0.25808918476104736 + }, + "static.prop.recyclecardboard": { + "width": 2.3846962451934814, + "length": 2.5890233516693115, + "height": 2.0096852779388428 + }, "static.prop.trafficcone02": { "width": 0.3945564925670624, "length": 0.455596923828125, @@ -447,11 +514,21 @@ "length": 1.5732090473175049, "height": 1.1810814142227173 }, + "static.prop.gardenlamp": { + "width": 0.28122183680534363, + "length": 0.2972412407398224, + "height": 0.6478500366210938 + }, "static.prop.dirtdebris03": { "width": 1.5139321088790894, "length": 1.8574368953704834, "height": 0.1883699893951416 }, + "static.prop.swingcouch": { + "width": 2.362380266189575, + "length": 1.357409954071045, + "height": 2.2493832111358643 + }, "static.prop.kiosk_01": { "width": 1.6540685892105103, "length": 1.6252474784851074, @@ -462,6 +539,16 @@ "length": 1.0287128686904907, "height": 0.061725616455078125 }, + "static.prop.brokentile04": { + "width": 0.12647496163845062, + "length": 0.12972931563854218, + "height": 0.01014416478574276 + }, + "static.prop.brokentile02": { + "width": 0.15229617059230804, + "length": 0.20967701077461243, + "height": 0.007594939786940813 + }, "static.prop.gnome": { "width": 0.37559059262275696, "length": 0.36661627888679504, @@ -497,11 +584,21 @@ "length": 0.7565627098083496, "height": 0.9889887571334839 }, + "static.prop.purse": { + "width": 0.3326959013938904, + "length": 0.15921518206596375, + "height": 0.5852110385894775 + }, "static.prop.streetbarrier": { "width": 0.3716789782047272, "length": 1.2149077653884888, "height": 1.069164514541626 }, + "static.prop.trampoline": { + "width": 4.131584644317627, + "length": 4.131584644317627, + "height": 2.801903247833252 + }, "static.prop.advertisement": { "width": 0.28684958815574646, "length": 1.549233317375183, @@ -512,6 +609,11 @@ "length": 0.526629626750946, "height": 1.1572810411453247 }, + "static.prop.recycleorganic": { + "width": 1.7764321565628052, + "length": 1.0195363759994507, + "height": 1.943043828010559 + }, "static.prop.dirtdebris02": { "width": 1.5139321088790894, "length": 1.8574368953704834, @@ -552,6 +654,11 @@ "length": 0.543353796005249, "height": 0.43285050988197327 }, + "static.prop.brokentile03": { + "width": 0.1449233442544937, + "length": 0.1544525921344757, + "height": 0.008505801670253277 + }, "static.prop.plasticchair": { "width": 0.7504488825798035, "length": 0.7304753661155701, @@ -587,6 +694,11 @@ "length": 1.08914053440094, "height": 0.5573238730430603 }, + "static.prop.shoppingcart": { + "width": 1.207547903060913, + "length": 0.6694015264511108, + "height": 1.0793083906173706 + }, "static.prop.plantpot05": { "width": 0.4757719337940216, "length": 0.4946027398109436, @@ -602,6 +714,21 @@ "length": 1.8574368953704834, "height": 0.14900343120098114 }, + "static.prop.pergola": { + "width": 5.085033893585205, + "length": 5.029393672943115, + "height": 3.541531562805176 + }, + "static.prop.warningaccident": { + "width": 1.055053472518921, + "length": 1.3050163984298706, + "height": 1.8602019548416138 + }, + "static.prop.shoppingbag": { + "width": 0.2432928830385208, + "length": 0.47446563839912415, + "height": 0.6006307601928711 + }, "static.prop.plantpot04": { "width": 0.7366006970405579, "length": 4.967305660247803, @@ -612,6 +739,11 @@ "length": 0.3779701590538025, "height": 0.702082097530365 }, + "static.prop.swing": { + "width": 1.5768225193023682, + "length": 4.105227947235107, + "height": 2.5724740028381348 + }, "static.prop.trashcan02": { "width": 0.6696233749389648, "length": 0.7931143045425415, @@ -632,16 +764,36 @@ "length": 0.5238340497016907, "height": 1.0454455614089966 }, + "static.prop.barbeque": { + "width": 0.49884626269340515, + "length": 0.9456468820571899, + "height": 1.2640891075134277 + }, + "static.prop.foodcart": { + "width": 4.638397693634033, + "length": 2.2846763134002686, + "height": 3.573108673095703 + }, "static.prop.trashcan01": { "width": 0.37456512451171875, "length": 0.5437172055244446, "height": 1.2140138149261475 }, + "static.prop.brokentile01": { + "width": 0.1760428547859192, + "length": 0.13444176316261292, + "height": 0.006563859060406685 + }, "static.prop.vendingmachine": { "width": 1.102043867111206, "length": 0.8728882670402527, "height": 2.1082382202148438 }, + "static.prop.streetfountain": { + "width": 0.9839538335800171, + "length": 0.405456006526947, + "height": 1.0484803915023804 + }, "static.prop.bench02": { "width": 0.5126523971557617, "length": 1.58349609375, @@ -651,6 +803,11 @@ "width": 2.4822070598602295, "length": 2.4822070598602295, "height": 2.479797840118408 + }, + "static.prop.shoppingtrolley": { + "width": 0.33110183477401733, + "length": 0.5055894255638123, + "height": 1.0936459302902222 } } } \ No newline at end of file diff --git a/tools/carla/snapshots/blueprints_0.9.14.json b/tools/carla/snapshots/blueprints_0.9.14.json new file mode 100644 index 000000000..30a59e5bf --- /dev/null +++ b/tools/carla/snapshots/blueprints_0.9.14.json @@ -0,0 +1,1142 @@ +{ + "server_version": "0.9.14", + "ids": { + "carModels": [ + "vehicle.audi.a2", + "vehicle.citroen.c3", + "vehicle.chevrolet.impala", + "vehicle.dodge.charger_police_2020", + "vehicle.micro.microlino", + "vehicle.dodge.charger_police", + "vehicle.audi.tt", + "vehicle.jeep.wrangler_rubicon", + "vehicle.mercedes.coupe", + "vehicle.mercedes.coupe_2020", + "vehicle.dodge.charger_2020", + "vehicle.lincoln.mkz_2020", + "vehicle.mini.cooper_s_2021", + "vehicle.toyota.prius", + "vehicle.ford.crown", + "vehicle.nissan.patrol_2021", + "vehicle.audi.etron", + "vehicle.seat.leon", + "vehicle.lincoln.mkz_2017", + "vehicle.ford.mustang", + "vehicle.tesla.model3", + "vehicle.bmw.grandtourer", + "vehicle.nissan.patrol", + "vehicle.nissan.micra", + "vehicle.mini.cooper_s" + ], + "bicycleModels": [ + "vehicle.diamondback.century", + "vehicle.gazelle.omafiets", + "vehicle.bh.crossbike" + ], + "motorcycleModels": [ + "vehicle.harley-davidson.low_rider", + "vehicle.vespa.zx125", + "vehicle.kawasaki.ninja", + "vehicle.yamaha.yzf" + ], + "truckModels": [ + "vehicle.carlamotors.carlacola", + "vehicle.tesla.cybertruck", + "vehicle.carlamotors.firetruck" + ], + "vanModels": [ + "vehicle.ford.ambulance", + "vehicle.mercedes.sprinter", + "vehicle.volkswagen.t2_2021", + "vehicle.volkswagen.t2" + ], + "busModels": [ + "vehicle.mitsubishi.fusorosa" + ], + "walkerModels": [ + "walker.pedestrian.0013", + "walker.pedestrian.0027", + "walker.pedestrian.0008", + "walker.pedestrian.0006", + "walker.pedestrian.0035", + "walker.pedestrian.0001", + "walker.pedestrian.0002", + "walker.pedestrian.0003", + "walker.pedestrian.0004", + "walker.pedestrian.0011", + "walker.pedestrian.0037", + "walker.pedestrian.0005", + "walker.pedestrian.0009", + "walker.pedestrian.0010", + "walker.pedestrian.0045", + "walker.pedestrian.0015", + "walker.pedestrian.0016", + "walker.pedestrian.0030", + "walker.pedestrian.0046", + "walker.pedestrian.0038", + "walker.pedestrian.0041", + "walker.pedestrian.0043", + "walker.pedestrian.0042", + "walker.pedestrian.0044", + "walker.pedestrian.0020", + "walker.pedestrian.0039", + "walker.pedestrian.0022", + "walker.pedestrian.0040", + "walker.pedestrian.0033", + "walker.pedestrian.0028", + "walker.pedestrian.0047", + "walker.pedestrian.0048", + "walker.pedestrian.0049", + "walker.pedestrian.0007", + "walker.pedestrian.0036", + "walker.pedestrian.0031", + "walker.pedestrian.0029", + "walker.pedestrian.0014", + "walker.pedestrian.0026", + "walker.pedestrian.0012", + "walker.pedestrian.0025", + "walker.pedestrian.0024", + "walker.pedestrian.0034", + "walker.pedestrian.0017", + "walker.pedestrian.0021", + "walker.pedestrian.0019", + "walker.pedestrian.0023", + "walker.pedestrian.0032", + "walker.pedestrian.0018" + ], + "trashModels": [ + "static.prop.trashcan03", + "static.prop.trashcan04", + "static.prop.trashcan05", + "static.prop.trashcan01", + "static.prop.trashcan02", + "static.prop.bin" + ], + "coneModels": [ + "static.prop.trafficcone02", + "static.prop.trafficcone01", + "static.prop.constructioncone" + ], + "debrisModels": [ + "static.prop.dirtdebris03", + "static.prop.dirtdebris01", + "static.prop.dirtdebris02" + ], + "vendingMachineModels": [ + "static.prop.vendingmachine" + ], + "chairModels": [ + "static.prop.plasticchair" + ], + "busStopModels": [ + "static.prop.busstop", + "static.prop.busstoplb" + ], + "advertisementModels": [ + "static.prop.streetsign", + "static.prop.advertisement", + "static.prop.streetsign04", + "static.prop.streetsign01" + ], + "garbageModels": [ + "static.prop.garbage04", + "static.prop.garbage06", + "static.prop.garbage01", + "static.prop.garbage03", + "static.prop.platformgarbage01", + "static.prop.garbage05", + "static.prop.trashbag", + "static.prop.plasticbag", + "static.prop.garbage02", + "static.prop.colacan" + ], + "containerModels": [ + "static.prop.clothcontainer", + "static.prop.glasscontainer", + "static.prop.container" + ], + "tableModels": [ + "static.prop.maptable", + "static.prop.plastictable", + "static.prop.table" + ], + "barrierModels": [ + "static.prop.chainbarrierend", + "static.prop.streetbarrier", + "static.prop.chainbarrier" + ], + "plantpotModels": [ + "static.prop.plantpot01", + "static.prop.plantpot08", + "static.prop.plantpot06", + "static.prop.plantpot03", + "static.prop.plantpot07", + "static.prop.plantpot05", + "static.prop.plantpot04", + "static.prop.plantpot02" + ], + "mailboxModels": [ + "static.prop.mailbox" + ], + "gnomeModels": [ + "static.prop.gnome" + ], + "creasedboxModels": [ + "static.prop.creasedbox02", + "static.prop.creasedbox01", + "static.prop.creasedbox03" + ], + "caseModels": [ + "static.prop.guitarcase", + "static.prop.travelcase", + "static.prop.briefcase" + ], + "boxModels": [ + "static.prop.box03", + "static.prop.box02", + "static.prop.box01" + ], + "benchModels": [ + "static.prop.bench01", + "static.prop.bench02", + "static.prop.bench03" + ], + "barrelModels": [ + "static.prop.barrel" + ], + "atmModels": [ + "static.prop.atm" + ], + "kioskModels": [ + "static.prop.kiosk_01" + ], + "ironplateModels": [ + "static.prop.ironplank" + ], + "trafficwarningModels": [ + "static.prop.trafficwarning" + ] + }, + "dims": { + "vehicle.audi.a2": { + "width": 1.788678526878357, + "length": 3.705369472503662, + "height": 1.549050211906433 + }, + "vehicle.citroen.c3": { + "width": 1.8508483171463013, + "length": 3.987684965133667, + "height": 1.6171095371246338 + }, + "vehicle.chevrolet.impala": { + "width": 2.033202886581421, + "length": 5.357479572296143, + "height": 1.4106587171554565 + }, + "vehicle.dodge.charger_police_2020": { + "width": 1.9297595024108887, + "length": 5.237514495849609, + "height": 1.638383150100708 + }, + "vehicle.micro.microlino": { + "width": 1.4809197187423706, + "length": 2.2072951793670654, + "height": 1.3760247230529785 + }, + "vehicle.dodge.charger_police": { + "width": 2.0384011268615723, + "length": 4.974244117736816, + "height": 1.5421181917190552 + }, + "vehicle.audi.tt": { + "width": 1.9941171407699585, + "length": 4.181210041046143, + "height": 1.385296106338501 + }, + "vehicle.jeep.wrangler_rubicon": { + "width": 1.9051965475082397, + "length": 3.866220712661743, + "height": 1.8779358863830566 + }, + "vehicle.mercedes.coupe": { + "width": 2.1515462398529053, + "length": 5.0267767906188965, + "height": 1.6506516933441162 + }, + "vehicle.mercedes.coupe_2020": { + "width": 1.8118125200271606, + "length": 4.673638820648193, + "height": 1.441947340965271 + }, + "vehicle.harley-davidson.low_rider": { + "width": 0.7457675933837891, + "length": 0.0, + "height": 0.0 + }, + "vehicle.dodge.charger_2020": { + "width": 1.8816219568252563, + "length": 5.0078253746032715, + "height": 1.5347249507904053 + }, + "vehicle.ford.ambulance": { + "width": 2.3511743545532227, + "length": 6.36564302444458, + "height": 2.431375741958618 + }, + "vehicle.lincoln.mkz_2020": { + "width": 1.8367133140563965, + "length": 4.89238166809082, + "height": 1.490277647972107 + }, + "vehicle.mini.cooper_s_2021": { + "width": 2.097072124481201, + "length": 4.552699089050293, + 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"static.prop.garbage01": { + "width": 0.05342773348093033, + "length": 0.05342777073383331, + "height": 0.08679687231779099 + }, + "static.prop.wateringcan": { + "width": 0.19403739273548126, + "length": 0.07035235315561295, + "height": 0.13484375178813934 + }, + "static.prop.streetsign01": { + "width": 0.3029319941997528, + "length": 2.470391273498535, + "height": 3.8779685497283936 + }, + "static.prop.constructioncone": { + "width": 0.3440696597099304, + "length": 0.3440696597099304, + "height": 0.5857812166213989 + }, + "static.prop.dirtdebris01": { + "width": 1.5139321088790894, + "length": 1.8574368953704834, + "height": 0.1489843726158142 + }, + "static.prop.clothesline": { + "width": 1.1180102825164795, + "length": 6.652331352233887, + "height": 2.0610156059265137 + }, + "static.prop.brokentile02": { + "width": 0.15229617059230804, + "length": 0.20967696607112885, + "height": 0.007578124757856131 + }, + "static.prop.bin": { + "width": 0.6381588578224182, + "length": 0.548203706741333, + "height": 1.0591405630111694 + }, + "static.prop.brokentile01": { + "width": 0.1760428547859192, + "length": 0.13444174826145172, + "height": 0.006562499795109034 + }, + "static.prop.briefcase": { + "width": 0.18117640912532806, + "length": 0.543353796005249, + "height": 0.43281248211860657 + }, + "static.prop.foodcart": { + "width": 4.638397693634033, + "length": 2.2846763134002686, + "height": 3.573124885559082 + }, + "static.prop.box01": { + "width": 0.6521967053413391, + "length": 0.6521967649459839, + "height": 0.6915624737739563 + }, + "static.prop.box02": { + "width": 0.648569643497467, + "length": 0.648569643497467, + "height": 0.6485937237739563 + }, + "static.prop.bench03": { + "width": 0.5126523971557617, + "length": 1.58349609375, + "height": 0.5126562118530273 + } + } +} \ No newline at end of file From ebf8b8ef6ccbcc15df729e2e47e5919bb136f96f Mon Sep 17 00:00:00 2001 From: Lola Marrero Date: Thu, 30 Oct 2025 10:44:28 -0700 Subject: [PATCH 3/5] clean up --- src/scenic/simulators/carla/blueprints.py | 16 +++++++--------- tools/carla/make_blueprints.py | 16 +++++++--------- 2 files changed, 14 insertions(+), 18 deletions(-) diff --git a/src/scenic/simulators/carla/blueprints.py b/src/scenic/simulators/carla/blueprints.py index 8a7fc873c..2d94b3222 100644 --- a/src/scenic/simulators/carla/blueprints.py +++ b/src/scenic/simulators/carla/blueprints.py @@ -4232,26 +4232,24 @@ def any_in(category): def _get_dim(bp_id, key, default): - """Dimension lookup with fallback. + """Return recorded dimension or ``default`` if missing/0. - CARLA 0.9.14 snapshots sometimes store 0.0 for certain blueprint dimensions; - treat missing/None/<=0 as unknown and return ``default`` instead. See CARLA issue #5841 + Note: CARLA 0.9.14 bbox returns 0 for some blueprints (see CARLA issue #5841). """ - rec = dims.get(bp_id) or {} - dim = rec.get(key) - return default if dim is None or dim <= 0 else dim + val = dims.get(bp_id, {}).get(key) + return val if val else default def width(bp_id, default): - """Width; falls back to default if missing or <= 0.""" + """Get width for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "width", default) def length(bp_id, default): - """Length; falls back to default if missing or <= 0.""" + """Get length for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "length", default) def height(bp_id, default): - """Height; falls back to default if missing or <= 0.""" + """Get height for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "height", default) diff --git a/tools/carla/make_blueprints.py b/tools/carla/make_blueprints.py index 52f1d6991..056eb6f45 100644 --- a/tools/carla/make_blueprints.py +++ b/tools/carla/make_blueprints.py @@ -92,28 +92,26 @@ def any_in(category): def _get_dim(bp_id, key, default): - """Dimension lookup with fallback. + """Return recorded dimension or ``default`` if missing/0. - CARLA 0.9.14 snapshots sometimes store 0.0 for certain blueprint dimensions; - treat missing/None/<=0 as unknown and return ``default`` instead. See CARLA issue #5841 + Note: CARLA 0.9.14 bbox returns 0 for some blueprints (see CARLA issue #5841). """ - rec = dims.get(bp_id) or {} - dim = rec.get(key) - return default if dim is None or dim <= 0 else dim + val = dims.get(bp_id, {}).get(key) + return val if val else default def width(bp_id, default): - """Width; falls back to default if missing or <= 0.""" + """Get width for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "width", default) def length(bp_id, default): - """Length; falls back to default if missing or <= 0.""" + """Get length for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "length", default) def height(bp_id, default): - """Height; falls back to default if missing or <= 0.""" + """Get height for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "height", default) ''' From 1ea1de691bd5e78bbd3c853512c596c4481ec859 Mon Sep 17 00:00:00 2001 From: Lola Marrero Date: Mon, 3 Nov 2025 12:53:33 -0800 Subject: [PATCH 4/5] use CarlaActor-based dims and support distributed blueprints --- src/scenic/simulators/carla/blueprints.py | 4 ++ src/scenic/simulators/carla/model.scenic | 65 +++++++++++++---------- tools/carla/make_blueprints.py | 5 +- 3 files changed, 46 insertions(+), 28 deletions(-) diff --git a/src/scenic/simulators/carla/blueprints.py b/src/scenic/simulators/carla/blueprints.py index 2d94b3222..cce1ef720 100644 --- a/src/scenic/simulators/carla/blueprints.py +++ b/src/scenic/simulators/carla/blueprints.py @@ -6,6 +6,7 @@ from importlib.metadata import PackageNotFoundError, version as _pkg_version import warnings +from scenic.core.distributions import distributionFunction from scenic.core.errors import InvalidScenarioError try: @@ -4240,16 +4241,19 @@ def _get_dim(bp_id, key, default): return val if val else default +@distributionFunction def width(bp_id, default): """Get width for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "width", default) +@distributionFunction def length(bp_id, default): """Get length for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "length", default) +@distributionFunction def height(bp_id, default): """Get height for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "height", default) diff --git a/src/scenic/simulators/carla/model.scenic b/src/scenic/simulators/carla/model.scenic index 87878de8b..67d59759c 100644 --- a/src/scenic/simulators/carla/model.scenic +++ b/src/scenic/simulators/carla/model.scenic @@ -122,6 +122,12 @@ class CarlaActor(DrivingObject): carlaActor (dynamic): Set during simulations to the ``carla.Actor`` representing this object. blueprint (str): Identifier of the CARLA blueprint specifying the type of object. + defaultWidth (float): Default width to use if Scenic has no recorded dimensions for this blueprint. + defaultLength (float): Default length to use if Scenic has no recorded dimensions for this blueprint. + defaultHeight (float): Default height to use if Scenic has no recorded dimensions for this blueprint. + width (float): Width for this blueprint; uses Scenic's recorded dimensions when available, otherwise ``defaultWidth``. + length (float): Length for this blueprint; uses Scenic's recorded dimensions when available, otherwise ``defaultLength``. + height (float): Height for this blueprint; uses Scenic's recorded dimensions when available, otherwise ``defaultHeight``. rolename (str): Can be used to differentiate specific actors during runtime. Default value ``None``. physics (bool): Whether physics is enabled for this object in CARLA. Default true. @@ -130,8 +136,13 @@ class CarlaActor(DrivingObject): """ carlaActor: None blueprint: None + defaultWidth: 1 + defaultLength: 1 + defaultHeight: 1 + width: bp.width(self.blueprint, self.defaultWidth) + length: bp.length(self.blueprint, self.defaultLength) + height: bp.height(self.blueprint, self.defaultHeight) rolename: None - color: None physics: True snapToGround: globalParameters.snapToGroundDefault @@ -155,7 +166,7 @@ class CarlaActor(DrivingObject): else: self.carlaActor.set_velocity(cvel) -class Vehicle(Vehicle, CarlaActor, Steers, _CarlaVehicle): +class Vehicle(CarlaActor, Vehicle, Steers, _CarlaVehicle): """Abstract class for steerable vehicles.""" def setThrottle(self, throttle): @@ -183,9 +194,9 @@ class Car(Vehicle): blueprints listed in :obj:`scenic.simulators.carla.blueprints.carModels`. """ blueprint: Uniform(*bp.any_in("car")) - width: bp.width(self.blueprint, 2) - length: bp.length(self.blueprint, 4.5) - height: bp.height(self.blueprint, 1.5) + defaultWidth: 2 + defaultLength: 4.5 + defaultHeight: 1.5 @property def isCar(self): @@ -196,44 +207,44 @@ class NPCCar(Car): # no distinction between these in CARLA class Bicycle(Vehicle): blueprint: Uniform(*bp.any_in("bicycle")) - width: bp.width(self.blueprint, 1) - length: bp.length(self.blueprint, 2) - height: bp.height(self.blueprint, 1.5) + defaultWidth: 1 + defaultLength: 2 + defaultHeight: 1.5 class Motorcycle(Vehicle): blueprint: Uniform(*bp.any_in("motorcycle")) - width: bp.width(self.blueprint, 1) - length: bp.length(self.blueprint, 2) - height: bp.height(self.blueprint, 1.5) + defaultWidth: 1 + defaultLength: 2 + defaultHeight: 1.5 class Truck(Vehicle): blueprint: Uniform(*bp.any_in("truck")) - width: bp.width(self.blueprint, 2.5) - length: bp.length(self.blueprint, 7.5) - height: bp.height(self.blueprint, 3) + defaultWidth: 2.5 + defaultLength: 7.5 + defaultHeight: 3 class Van(Vehicle): blueprint: Uniform(*bp.any_in("van")) - width: bp.width(self.blueprint, 2) - length: bp.length(self.blueprint, 5) - height: bp.height(self.blueprint, 2) + defaultWidth: 2 + defaultLength: 5 + defaultHeight: 2 class Bus(Vehicle): blueprint: Uniform(*bp.any_in("bus")) - width: bp.width(self.blueprint, 4) - length: bp.length(self.blueprint, 10) - height: bp.height(self.blueprint, 4) + defaultWidth: 4 + defaultLength: 10 + defaultHeight: 4 -class Pedestrian(Pedestrian, CarlaActor, Walks, _CarlaPedestrian): +class Pedestrian(CarlaActor, Pedestrian, Walks, _CarlaPedestrian): """A pedestrian. The default ``blueprint`` (see `CarlaActor`) is a uniform distribution over the blueprints listed in :obj:`scenic.simulators.carla.blueprints.walkerModels`. """ blueprint: Uniform(*bp.any_in("walker")) - width: bp.width(self.blueprint, 0.5) - length: bp.length(self.blueprint, 0.5) - height: bp.height(self.blueprint, 1.5) + defaultWidth: 0.5 + defaultLength: 0.5 + defaultHeight: 1.5 carlaController: None def setWalkingDirection(self, heading): @@ -254,9 +265,9 @@ class Prop(CarlaActor): regionContainedIn: road position: new Point on road parentOrientation: Range(0, 360) deg - width: bp.width(self.blueprint, 0.5) - length: bp.length(self.blueprint, 0.5) - height: bp.height(self.blueprint, 0.5) + defaultWidth: 0.5 + defaultLength: 0.5 + defaultHeight: 0.5 physics: False class Trash(Prop): diff --git a/tools/carla/make_blueprints.py b/tools/carla/make_blueprints.py index 056eb6f45..8d72264f1 100644 --- a/tools/carla/make_blueprints.py +++ b/tools/carla/make_blueprints.py @@ -28,6 +28,7 @@ from importlib.metadata import PackageNotFoundError, version as _pkg_version import warnings +from scenic.core.distributions import distributionFunction from scenic.core.errors import InvalidScenarioError try: @@ -100,20 +101,22 @@ def _get_dim(bp_id, key, default): return val if val else default +@distributionFunction def width(bp_id, default): """Get width for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "width", default) +@distributionFunction def length(bp_id, default): """Get length for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "length", default) +@distributionFunction def height(bp_id, default): """Get height for ``bp_id``; return ``default`` if unknown.""" return _get_dim(bp_id, "height", default) - ''' From 6583ab041aa666b9dd5dcfb833cf8d1790119c7f Mon Sep 17 00:00:00 2001 From: Lola Marrero Date: Thu, 13 Nov 2025 18:14:40 -0800 Subject: [PATCH 5/5] Use template string to build CARLA blueprints source --- tools/carla/make_blueprints.py | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/tools/carla/make_blueprints.py b/tools/carla/make_blueprints.py index 8d72264f1..1d19cb88a 100644 --- a/tools/carla/make_blueprints.py +++ b/tools/carla/make_blueprints.py @@ -119,6 +119,9 @@ def height(bp_id, default): return _get_dim(bp_id, "height", default) ''' +# Template for src/scenic/simulators/carla/blueprints.py +TEMPLATE = "{HEADER}\n" "_IDS = {IDS_JSON}\n\n" "_DIMS = {DIMS_JSON}\n\n" "{FOOTER}" + def _verkey(s: str): parts = [int(p) for p in s.split(".")] @@ -154,11 +157,14 @@ def normalize(versions): def build_source(versions): ids_map, dims_map = normalize(versions) - out = [HEADER, "\n"] - out += ["_IDS = ", json.dumps(ids_map, indent=2), "\n\n"] - out += ["_DIMS = ", json.dumps(dims_map, indent=2), "\n\n"] - out += [FOOTER] - return "".join(out) + ids_json = json.dumps(ids_map, indent=2) + dims_json = json.dumps(dims_map, indent=2) + return TEMPLATE.format( + HEADER=HEADER, + IDS_JSON=ids_json, + DIMS_JSON=dims_json, + FOOTER=FOOTER, + ) def main():