Generate CARLA blueprints dynamically

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
 
@@ -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):
@@ -182,7 +193,10 @@ 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"))
+    defaultWidth: 2 
+    defaultLength: 4.5 
+    defaultHeight: 1.5
 
     @property
     def isCar(self):
@@ -192,32 +206,45 @@ 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"))
+    defaultWidth: 1 
+    defaultLength: 2 
+    defaultHeight: 1.5
 
 class Motorcycle(Vehicle):
-    width: 1
-    length:2
-    blueprint: Uniform(*blueprints.motorcycleModels)
-
+    blueprint: Uniform(*bp.any_in("motorcycle"))
+    defaultWidth: 1
+    defaultLength: 2 
+    defaultHeight: 1.5
 
 class Truck(Vehicle):
-    width: 3
-    length: 7
-    blueprint: Uniform(*blueprints.truckModels)
-
-
-class Pedestrian(Pedestrian, CarlaActor, Walks, _CarlaPedestrian):
+    blueprint: Uniform(*bp.any_in("truck"))
+    defaultWidth: 2.5
+    defaultLength: 7.5
+    defaultHeight: 3
+
+class Van(Vehicle):
+    blueprint: Uniform(*bp.any_in("van"))
+    defaultWidth: 2 
+    defaultLength: 5 
+    defaultHeight: 2
+
+class Bus(Vehicle):
+    blueprint: Uniform(*bp.any_in("bus"))
+    defaultWidth: 4 
+    defaultLength: 10
+    defaultHeight: 4
+
+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`.
     """
-    width: 0.5
-    length: 0.5
-    blueprint: Uniform(*blueprints.walkerModels)
+    blueprint: Uniform(*bp.any_in("walker"))
+    defaultWidth: 0.5 
+    defaultLength: 0.5 
+    defaultHeight: 1.5
     carlaController: None
 
     def setWalkingDirection(self, heading):
@@ -238,100 +265,99 @@ class Prop(CarlaActor):
     regionContainedIn: road
     position: new Point on road
     parentOrientation: Range(0, 360) deg
-    width: 0.5
-    length: 0.5
+    defaultWidth: 0.5
+    defaultLength: 0.5 
+    defaultHeight: 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

tests/simulators/carla/test_blueprints.py

@@ -7,92 +7,71 @@
 
 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)
     obj = simulation.objects[0]
     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)