From 1cd2aa65bce0bdc1a3b3d71247da141107e8949f Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Sun, 16 Nov 2025 20:55:51 -0800 Subject: [PATCH 01/18] Work on OpenScenarioXML Export. --- src/scenic/core/serialization.py | 76 ++++++++++++++++++++++++++++++++ 1 file changed, 76 insertions(+) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index a7c52367a..e473032b3 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -364,3 +364,79 @@ def readStr(stream): Serializer.addCodec(str, writeStr, readStr) + +from scenariogeneration import ScenarioGenerator, xosc + + +def toOpenScenario( + scenario, + scene, + simulationResult, + wheelbaseRatio=0.6, + maxSteeringAngle=0.523598775598, + wheelDiameter=0.8, + trackWidth=1.68, + groundClearance=0.4, + maxSpeed=69, + maxAcceleration=10, + maxDeceleration=10, +): + # Create catalog + xosc_catalog = xosc.Catalog() + + # Extract map + assert "map" in scenario.params + map_path = scenario.params["map"] + xosc_road = xosc.RoadNetwork(roadfile=map_path) + + # Create entitities + entities = xosc.Entities() + xosc_objects = [] + for obj_i, obj in enumerate(scene.objects): + veh_name = obj.name if hasattr(obj, "name") else f"Vehicle_{obj_i}" + # NOTE: XOSC coordinate system swaps X and Y compared to Scenic. + veh_bb = xosc.BoundingBox( + obj.length, + obj.width, + obj.height, + 0.5 * wheelbaseRatio * obj.length, + 0, + obj.height / 2, + ) + veh_fa = xosc.Axle( + maxSteeringAngle, + wheelDiameter, + trackWidth, + wheelbaseRatio * obj.length, + groundClearance, + ) + veh_ra = xosc.Axle( + maxSteeringAngle, wheelDiameter, trackWidth, 0, groundClearance + ) + xosc_veh = xosc.Vehicle( + name=veh_name, + vehicle_type=xosc.VehicleCategory.car, + boundingbox=veh_bb, + frontaxle=veh_fa, + rearaxle=veh_ra, + max_speed=maxSpeed, + max_acceleration=maxAcceleration, + max_deceleration=maxDeceleration, + mass=None, + model3d=None, + max_acceleration_rate=None, + max_deceleration_rate=None, + role=None, + ) + xosc_objects.append(xosc_veh) + entities.add_scenario_object(veh_name, xosc_veh) + + # Create init + init = xosc.Init() + + for xosc_obj in xosc_objects: + breakpoint() + obj_init_action = xosc.TeleportAction(xosc.LanePosition(25, 0, -1, 1)) + init.add_init_action(xosc_obj.name, obj_init_action) + + assert False From 8c056c2a07e915da540073a82836d7fc8c67cfb8 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Tue, 18 Nov 2025 15:09:52 -0800 Subject: [PATCH 02/18] Initial OpenScenarioXML export implementation. --- src/scenic/core/regions.py | 3 + src/scenic/core/serialization.py | 110 ++++++++++++++++++++++++++++--- src/scenic/core/simulators.py | 14 +++- 3 files changed, 117 insertions(+), 10 deletions(-) diff --git a/src/scenic/core/regions.py b/src/scenic/core/regions.py index 38e876d01..00cb8bca5 100644 --- a/src/scenic/core/regions.py +++ b/src/scenic/core/regions.py @@ -3695,6 +3695,9 @@ def distanceTo(self, point) -> float: dist2D = self.lineString.distance(makeShapelyPoint(point)) return math.hypot(dist2D, point.z) + def distanceAlong(self, point) -> float: + return shapely.line_locate_point(self.lineString, makeShapelyPoint(point)) + def projectVector(self, point, onDirection): raise TypeError('PolylineRegion does not support projection using "on"') diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index e473032b3..e869b2358 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -7,6 +7,7 @@ import io import math +import os import pickle import struct import types @@ -372,6 +373,8 @@ def toOpenScenario( scenario, scene, simulationResult, + mapPath=None, + scenarioName="ScenicScenario", wheelbaseRatio=0.6, maxSteeringAngle=0.523598775598, wheelDiameter=0.8, @@ -384,22 +387,27 @@ def toOpenScenario( # Create catalog xosc_catalog = xosc.Catalog() + # Create parameters + xosc_paramdec = xosc.ParameterDeclarations() + # Extract map assert "map" in scenario.params - map_path = scenario.params["map"] + map_path = mapPath if mapPath is not None else os.path.abspath(scenario.params["map"]) xosc_road = xosc.RoadNetwork(roadfile=map_path) + # network = scenario.dynamicScenario._dummyNamespace["network"] + # Create entitities entities = xosc.Entities() - xosc_objects = [] + xosc_objects = {} for obj_i, obj in enumerate(scene.objects): - veh_name = obj.name if hasattr(obj, "name") else f"Vehicle_{obj_i}" + veh_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}" # NOTE: XOSC coordinate system swaps X and Y compared to Scenic. veh_bb = xosc.BoundingBox( obj.length, obj.width, obj.height, - 0.5 * wheelbaseRatio * obj.length, + 0, 0, obj.height / 2, ) @@ -428,15 +436,99 @@ def toOpenScenario( max_deceleration_rate=None, role=None, ) - xosc_objects.append(xosc_veh) + xosc_objects[obj] = xosc_veh entities.add_scenario_object(veh_name, xosc_veh) # Create init init = xosc.Init() - for xosc_obj in xosc_objects: - breakpoint() - obj_init_action = xosc.TeleportAction(xosc.LanePosition(25, 0, -1, 1)) + for obj, xosc_obj in xosc_objects.items(): + init_position = xosc.WorldPosition(x=obj.x, y=obj.y, z=obj.z, h=obj.heading) + obj_init_action = xosc.TeleportAction(init_position) init.add_init_action(xosc_obj.name, obj_init_action) - assert False + # Dynamics + xosc_act = xosc.Act( + "MainAct", + xosc.ValueTrigger( + "StartSimulation", + 0, + xosc.ConditionEdge.none, + xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), + ), + ) + + for obj_i, (obj, xosc_obj) in enumerate(xosc_objects.items()): + action_times = [] + action_positions = [] + for t, states in enumerate(simulationResult.trajectory): + state_position = states.positions[obj_i] + state_orientation = states.orientations[obj_i].yaw + action_times.append(simulationResult.timestep * t) + pos = xosc.WorldPosition( + x=state_position.x, + y=state_position.y, + z=state_position.z, + h=state_orientation, + ) + action_positions.append(pos) + + polyline = xosc.Polyline(time=action_times, positions=action_positions) + trajectory = xosc.Trajectory(name=f"Trajectory_{xosc_obj.name}", closed=False) + trajectory.add_shape(polyline) + + traj_action = xosc.FollowTrajectoryAction( + trajectory=trajectory, + following_mode=xosc.FollowingMode.position, + reference_domain=xosc.ReferenceContext.absolute, + scale=1, + offset=0, + ) + + event = xosc.Event(f"Event_{xosc_obj.name}", xosc.Priority.override) + event.add_trigger( + xosc.ValueTrigger( + f"TimeTrigger_{xosc_obj.name}_{t}", + 0, + xosc.ConditionEdge.none, + xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), + ) + ) + event.add_action(f"Action_{xosc_obj.name}", action=traj_action) + + maneuver = xosc.Maneuver("Maneuver_{xosc_obj.name}") + maneuver.add_event(event) + + manuever_group = xosc.ManeuverGroup(f"ManeuverGroup_{xosc_obj.name}") + manuever_group.add_maneuver(maneuver) + manuever_group.add_actor(xosc_obj.name) + + xosc_act.add_maneuver_group(manuever_group) + + # Create storyboard + xosc_sb = xosc.StoryBoard( + init, + xosc.ValueTrigger( + "StopSimulation", + 0, + xosc.ConditionEdge.rising, + xosc.SimulationTimeCondition( + simulationResult.currentRealTime, xosc.Rule.greaterThan + ), + "stop", + ), + ) + xosc_sb.add_act(xosc_act) + + # Create scenario + xosc_scenario = xosc.Scenario( + scenarioName, + "Scenic", + xosc_paramdec, + entities=entities, + storyboard=xosc_sb, + roadnetwork=xosc_road, + catalog=xosc_catalog, + ) + + return xosc_scenario diff --git a/src/scenic/core/simulators.py b/src/scenic/core/simulators.py index 3e9c0308f..f662c451d 100644 --- a/src/scenic/core/simulators.py +++ b/src/scenic/core/simulators.py @@ -811,7 +811,19 @@ def currentState(self): The default implementation returns a tuple of the positions of all objects. """ - return tuple(obj.position for obj in self.objects) + + class SimulationState(tuple): + def __new__(cls, positions, orientations): + return super().__new__(cls, positions) + + def __init__(self, positions, orientations): + self.positions = positions + self.orientations = orientations + + positions = tuple(obj.position for obj in self.objects) + orientation = tuple(obj.orientation for obj in self.objects) + + return SimulationState(positions, orientation) @property def currentRealTime(self): From 048d3f00d9229e9c165703df33e8829e9178d184 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Wed, 19 Nov 2025 09:28:24 -0800 Subject: [PATCH 03/18] Tidying up --- src/scenic/core/regions.py | 3 --- src/scenic/core/serialization.py | 9 ++++++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/scenic/core/regions.py b/src/scenic/core/regions.py index 00cb8bca5..38e876d01 100644 --- a/src/scenic/core/regions.py +++ b/src/scenic/core/regions.py @@ -3695,9 +3695,6 @@ def distanceTo(self, point) -> float: dist2D = self.lineString.distance(makeShapelyPoint(point)) return math.hypot(dist2D, point.z) - def distanceAlong(self, point) -> float: - return shapely.line_locate_point(self.lineString, makeShapelyPoint(point)) - def projectVector(self, point, onDirection): raise TypeError('PolylineRegion does not support projection using "on"') diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index e869b2358..006fdf925 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -11,6 +11,7 @@ import pickle import struct import types +import warnings from scenic.core.distributions import Samplable, needsSampling from scenic.core.utils import DefaultIdentityDict @@ -395,12 +396,14 @@ def toOpenScenario( map_path = mapPath if mapPath is not None else os.path.abspath(scenario.params["map"]) xosc_road = xosc.RoadNetwork(roadfile=map_path) - # network = scenario.dynamicScenario._dummyNamespace["network"] - # Create entitities entities = xosc.Entities() xosc_objects = {} for obj_i, obj in enumerate(scene.objects): + if not hasattr(obj, "isVehicle") or not obj.isVehicle: + warnings.warn("Non-vehicle object {} is ignored.") + continue + veh_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}" # NOTE: XOSC coordinate system swaps X and Y compared to Scenic. veh_bb = xosc.BoundingBox( @@ -488,7 +491,7 @@ def toOpenScenario( event = xosc.Event(f"Event_{xosc_obj.name}", xosc.Priority.override) event.add_trigger( xosc.ValueTrigger( - f"TimeTrigger_{xosc_obj.name}_{t}", + f"TimeTrigger_{xosc_obj.name}", 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), From 6ff049afa9eca8eb99baf3d4af52564ba7e9a872 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Tue, 25 Nov 2025 13:11:49 -0800 Subject: [PATCH 04/18] Fixed coordinate system --- src/scenic/core/serialization.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index 006fdf925..731589fcb 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -405,10 +405,9 @@ def toOpenScenario( continue veh_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}" - # NOTE: XOSC coordinate system swaps X and Y compared to Scenic. veh_bb = xosc.BoundingBox( - obj.length, obj.width, + obj.length, obj.height, 0, 0, @@ -446,7 +445,9 @@ def toOpenScenario( init = xosc.Init() for obj, xosc_obj in xosc_objects.items(): - init_position = xosc.WorldPosition(x=obj.x, y=obj.y, z=obj.z, h=obj.heading) + init_position = xosc.WorldPosition( + x=obj.x, y=obj.y, z=obj.z, h=obj.heading + math.radians(90) + ) obj_init_action = xosc.TeleportAction(init_position) init.add_init_action(xosc_obj.name, obj_init_action) @@ -466,7 +467,7 @@ def toOpenScenario( action_positions = [] for t, states in enumerate(simulationResult.trajectory): state_position = states.positions[obj_i] - state_orientation = states.orientations[obj_i].yaw + state_orientation = states.orientations[obj_i].yaw + math.radians(90) action_times.append(simulationResult.timestep * t) pos = xosc.WorldPosition( x=state_position.x, From 0b45e3d4ade8c101b8f26bb90115bb25f4777615 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Tue, 25 Nov 2025 13:43:39 -0800 Subject: [PATCH 05/18] Updated dependencies and fixed wheelbase offset --- pyproject.toml | 4 ++++ src/scenic/core/serialization.py | 20 ++++++++++++++++---- 2 files changed, 20 insertions(+), 4 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index b1ade058c..cc988206a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,6 +59,9 @@ metadrive = [ "metadrive-simulator@git+https://github.com/metadriverse/metadrive.git@85e5dadc6c7436d324348f6e3d8f8e680c06b4db", "sumolib >= 1.21.0", ] +openscenario = [ + "scenariogeneration" +] test = [ # minimum dependencies for running tests (used for tox virtualenvs) "pytest >= 7.0.0, <9", "pytest-cov >= 3.0.0", @@ -68,6 +71,7 @@ test-full = [ # like 'test' but adds dependencies for optional features "scenic[test]", # all dependencies from 'test' extra above "scenic[guideways]", # for running guideways modules "scenic[metadrive]", + "scenic[openscenario]", "astor >= 0.8.1", 'carla >= 0.9.12; python_version <= "3.10" and (platform_system == "Linux" or platform_system == "Windows")', "dill", diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index 731589fcb..b4a66d516 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -15,6 +15,7 @@ from scenic.core.distributions import Samplable, needsSampling from scenic.core.utils import DefaultIdentityDict +from scenic.core.vectors import Vector ## JSON @@ -411,7 +412,7 @@ def toOpenScenario( obj.height, 0, 0, - obj.height / 2, + 0, ) veh_fa = xosc.Axle( maxSteeringAngle, @@ -445,8 +446,16 @@ def toOpenScenario( init = xosc.Init() for obj, xosc_obj in xosc_objects.items(): + scenic_yaw = obj.yaw + state_orientation = scenic_yaw + math.radians(90) + state_position = obj.position.offsetRotated( + scenic_yaw, Vector(0, -0.5 * wheelbaseRatio * obj.length, 0) + ) init_position = xosc.WorldPosition( - x=obj.x, y=obj.y, z=obj.z, h=obj.heading + math.radians(90) + x=state_position.x, + y=state_position.y, + z=state_position.z, + h=state_orientation, ) obj_init_action = xosc.TeleportAction(init_position) init.add_init_action(xosc_obj.name, obj_init_action) @@ -466,8 +475,11 @@ def toOpenScenario( action_times = [] action_positions = [] for t, states in enumerate(simulationResult.trajectory): - state_position = states.positions[obj_i] - state_orientation = states.orientations[obj_i].yaw + math.radians(90) + scenic_yaw = states.orientations[obj_i].yaw + state_orientation = scenic_yaw + math.radians(90) + state_position = states.positions[obj_i].offsetRotated( + scenic_yaw, Vector(0, -0.5 * wheelbaseRatio * obj.length, 0) + ) action_times.append(simulationResult.timestep * t) pos = xosc.WorldPosition( x=state_position.x, From 8ecd602149f8f06b6ae299f344603a2ed81dfffb Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Mon, 15 Dec 2025 18:45:02 -0800 Subject: [PATCH 06/18] Added pedestrians to OpenScenarioXML export --- src/scenic/core/serialization.py | 96 +++++++++++++++---------- src/scenic/domains/driving/model.scenic | 8 +++ 2 files changed, 66 insertions(+), 38 deletions(-) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index b4a66d516..bba11549d 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -385,6 +385,7 @@ def toOpenScenario( maxSpeed=69, maxAcceleration=10, maxDeceleration=10, + pedestrianMass=65, ): # Create catalog xosc_catalog = xosc.Catalog() @@ -401,46 +402,65 @@ def toOpenScenario( entities = xosc.Entities() xosc_objects = {} for obj_i, obj in enumerate(scene.objects): - if not hasattr(obj, "isVehicle") or not obj.isVehicle: - warnings.warn("Non-vehicle object {} is ignored.") + if hasattr(obj, "isVehicle") and obj.isVehicle: + obj_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}" + veh_bb = xosc.BoundingBox( + obj.width, + obj.length, + obj.height, + 0, + 0, + 0, + ) + veh_fa = xosc.Axle( + maxSteeringAngle, + wheelDiameter, + trackWidth, + wheelbaseRatio * obj.length, + groundClearance, + ) + veh_ra = xosc.Axle( + maxSteeringAngle, wheelDiameter, trackWidth, 0, groundClearance + ) + xosc_obj = xosc.Vehicle( + name=obj_name, + vehicle_type=xosc.VehicleCategory.car, + boundingbox=veh_bb, + frontaxle=veh_fa, + rearaxle=veh_ra, + max_speed=maxSpeed, + max_acceleration=maxAcceleration, + max_deceleration=maxDeceleration, + mass=None, + model3d=None, + max_acceleration_rate=None, + max_deceleration_rate=None, + role=None, + ) + elif hasattr(obj, "isPedestrian") and obj.isPedestrian: + obj_name = obj.name if hasattr(obj, "name") else f"Pedestrian{obj_i}" + ped_bb = xosc.BoundingBox( + obj.width, + obj.length, + obj.height, + 0, + 0, + 0, + ) + xosc_obj = xosc.Pedestrian( + name=obj_name, + mass=pedestrianMass, + boundingbox=ped_bb, + category=xosc.PedestrianCategory.pedestrian, + model=None, + role=None, + ) + else: + warnings.warn(f"Unknown object {obj} is ignored.") continue - veh_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}" - veh_bb = xosc.BoundingBox( - obj.width, - obj.length, - obj.height, - 0, - 0, - 0, - ) - veh_fa = xosc.Axle( - maxSteeringAngle, - wheelDiameter, - trackWidth, - wheelbaseRatio * obj.length, - groundClearance, - ) - veh_ra = xosc.Axle( - maxSteeringAngle, wheelDiameter, trackWidth, 0, groundClearance - ) - xosc_veh = xosc.Vehicle( - name=veh_name, - vehicle_type=xosc.VehicleCategory.car, - boundingbox=veh_bb, - frontaxle=veh_fa, - rearaxle=veh_ra, - max_speed=maxSpeed, - max_acceleration=maxAcceleration, - max_deceleration=maxDeceleration, - mass=None, - model3d=None, - max_acceleration_rate=None, - max_deceleration_rate=None, - role=None, - ) - xosc_objects[obj] = xosc_veh - entities.add_scenario_object(veh_name, xosc_veh) + xosc_objects[obj] = xosc_obj + entities.add_scenario_object(obj_name, xosc_obj) # Create init init = xosc.Init() diff --git a/src/scenic/domains/driving/model.scenic b/src/scenic/domains/driving/model.scenic index b6d0754af..4a3219a56 100644 --- a/src/scenic/domains/driving/model.scenic +++ b/src/scenic/domains/driving/model.scenic @@ -133,6 +133,10 @@ class DrivingObject: def isVehicle(self): return False + @property + def isPedestrian(self): + return False + @property def isCar(self): return False @@ -325,6 +329,10 @@ class Pedestrian(DrivingObject): length: 0.75 color: [0, 0.5, 1] + @property + def isPedestrian(self): + return True + ## Utility functions def withinDistanceToAnyCars(car, thresholdDistance): From 5e2b7e33d84c428b26212033fa49cb28c224fedf Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Thu, 28 May 2026 20:07:44 -0700 Subject: [PATCH 07/18] XOSC export improvements, fixes, and test. --- src/scenic/core/serialization.py | 80 ++++++++++---------- src/scenic/domains/driving/model.scenic | 28 +++++++ tests/core/test_serialization.py | 50 +++++++++++- tests/simulators/metadrive/test_metadrive.py | 5 +- 4 files changed, 120 insertions(+), 43 deletions(-) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index 0dab3290c..ab7058a7e 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -403,15 +403,6 @@ def toOpenScenario( simulationResult, mapPath=None, scenarioName="ScenicScenario", - wheelbaseRatio=0.6, - maxSteeringAngle=0.523598775598, - wheelDiameter=0.8, - trackWidth=1.68, - groundClearance=0.4, - maxSpeed=69, - maxAcceleration=10, - maxDeceleration=10, - pedestrianMass=65, ): try: import scenariogeneration @@ -447,14 +438,18 @@ def toOpenScenario( 0, ) veh_fa = xosc.Axle( - maxSteeringAngle, - wheelDiameter, - trackWidth, - wheelbaseRatio * obj.length, - groundClearance, + obj.maxSteeringAngle, + obj.wheelDiameter, + obj.trackWidth, + obj.wheelbase, + obj.groundClearance, ) veh_ra = xosc.Axle( - maxSteeringAngle, wheelDiameter, trackWidth, 0, groundClearance + obj.maxSteeringAngle, + obj.wheelDiameter, + obj.trackWidth, + 0, + obj.groundClearance, ) xosc_obj = xosc.Vehicle( name=obj_name, @@ -462,9 +457,9 @@ def toOpenScenario( boundingbox=veh_bb, frontaxle=veh_fa, rearaxle=veh_ra, - max_speed=maxSpeed, - max_acceleration=maxAcceleration, - max_deceleration=maxDeceleration, + max_speed=obj.maxSpeed, + max_acceleration=obj.maxAcceleration, + max_deceleration=obj.maxDeceleration, mass=None, model3d=None, max_acceleration_rate=None, @@ -483,35 +478,45 @@ def toOpenScenario( ) xosc_obj = xosc.Pedestrian( name=obj_name, - mass=pedestrianMass, + mass=obj.mass, boundingbox=ped_bb, category=xosc.PedestrianCategory.pedestrian, model=None, role=None, ) else: - warnings.warn(f"Unknown object {obj} is ignored.") + warnings.warn( + f"Object {obj} of unsupported type is being ignored during XOSC export." + ) continue xosc_objects[obj] = xosc_obj entities.add_scenario_object(obj_name, xosc_obj) - # Create init - init = xosc.Init() - - for obj, xosc_obj in xosc_objects.items(): - scenic_yaw = obj.yaw - state_orientation = scenic_yaw + math.radians(90) - state_position = obj.position.offsetRotated( - scenic_yaw, Vector(0, -0.5 * wheelbaseRatio * obj.length, 0) + # Helper function + def pos_to_WorldPosition(obj, pos, yaw): + # XOSC Reference point is back axle, so we must translate Scenic's + # convention to this. + state_position = ( + pos.offsetRotated(yaw, Vector(0, -0.5 * obj.wheelbase, 0)) + if obj.isVehicle + else pos ) - init_position = xosc.WorldPosition( + state_orientation = yaw + math.radians(90) + return xosc.WorldPosition( x=state_position.x, y=state_position.y, z=state_position.z, h=state_orientation, ) - obj_init_action = xosc.TeleportAction(init_position) + + # Initial states + init = xosc.Init() + + for obj, xosc_obj in xosc_objects.items(): + obj_init_action = xosc.TeleportAction( + pos_to_WorldPosition(obj, obj.position, obj.yaw) + ) init.add_init_action(xosc_obj.name, obj_init_action) # Dynamics @@ -529,19 +534,12 @@ def toOpenScenario( action_times = [] action_positions = [] for t, states in enumerate(simulationResult.trajectory): - scenic_yaw = states.orientations[obj_i].yaw - state_orientation = scenic_yaw + math.radians(90) - state_position = states.positions[obj_i].offsetRotated( - scenic_yaw, Vector(0, -0.5 * wheelbaseRatio * obj.length, 0) + action_positions.append( + pos_to_WorldPosition( + obj, states.positions[obj_i], states.orientations[obj_i].yaw + ) ) action_times.append(simulationResult.timestep * t) - pos = xosc.WorldPosition( - x=state_position.x, - y=state_position.y, - z=state_position.z, - h=state_orientation, - ) - action_positions.append(pos) polyline = xosc.Polyline(time=action_times, positions=action_positions) trajectory = xosc.Trajectory(name=f"Trajectory_{xosc_obj.name}", closed=False) diff --git a/src/scenic/domains/driving/model.scenic b/src/scenic/domains/driving/model.scenic index 7652b43cb..8db0c2805 100644 --- a/src/scenic/domains/driving/model.scenic +++ b/src/scenic/domains/driving/model.scenic @@ -286,6 +286,24 @@ class Vehicle(DrivingObject): color (:obj:`Color` or RGB tuple): Color of the vehicle. The default value is a distribution derived from car color popularity statistics; see :obj:`Color.defaultCarColor`. + wheelbase: The distance between the front and rear axles of the vehicle. Default value is 0.6 + times the length of the vehicle. + maxSteeringAngle: The maximum steering angle of the vehicle. The full steering range would be + two times this value, going from (-maxSteeringAngle, maxSteeringAngle). Default value + 30 degrees. + wheelDiameter: The diameter of the *entire* wheel (including the tire). Default value is 0.7 meters. + trackWidth: Distance between the vehicle's wheels when pointed straight ahead. Default value + is 0.85 times the width of the vehicle. + groundClearance: Default value is half the wheel diameter. + maxSpeed: The maximum rated speed of the vehicle. Default value is 45 meters per second (~100 mph). + This value is not enforced by Scenic and is provided simply for other tools to reference (e.g. + exporting to OpenScenarioXML). + maxAcceleration: The maximum rated acceleration of the vehicle. Default value is 5 meters per second^2. + This value is not enforced by Scenic and is provided simply for other tools to reference (e.g. + exporting to OpenScenarioXML). + maxDeceleration: The maximum rated deceleration of the vehicle. Default value is 10 meters per second^2. + This value is not enforced by Scenic and is provided simply for other tools to reference (e.g. + exporting to OpenScenarioXML). """ regionContainedIn: roadOrShoulder position: new Point on road @@ -295,6 +313,14 @@ class Vehicle(DrivingObject): width: 2 length: 4.5 color: Color.defaultCarColor() + wheelbase: 0.6*self.length + maxSteeringAngle: 35 deg + wheelDiameter: 0.7 + trackWidth: 0.85*self.width + groundClearance: 0.5*self.wheelDiameter + maxSpeed: 45 + maxAcceleration: 5 + maxDeceleration: 10 @property def isVehicle(self): @@ -321,6 +347,7 @@ class Pedestrian(DrivingObject): length: The default length is 0.75 m. color: The default color is turquoise. Pedestrian colors are not necessarily used by simulators, but do appear in the debugging diagram. + mass: Default value is 65 kg. """ regionContainedIn: network.walkableRegion position: new Point on network.walkableRegion @@ -329,6 +356,7 @@ class Pedestrian(DrivingObject): width: 0.75 length: 0.75 color: [0, 0.5, 1] + mass: 65 @property def isPedestrian(self): diff --git a/tests/core/test_serialization.py b/tests/core/test_serialization.py index 6ae1d1c95..e7b88ccc2 100644 --- a/tests/core/test_serialization.py +++ b/tests/core/test_serialization.py @@ -13,8 +13,14 @@ import numpy import pytest -from scenic.core.serialization import SerializationError, Serializer, deterministicHash +from scenic.core.serialization import ( + SerializationError, + Serializer, + deterministicHash, + toOpenScenario, +) from scenic.core.simulators import DivergenceError, DummySimulator +from tests.simulators.metadrive.test_metadrive import getMetadriveSimulator from tests.utils import ( areEquivalent, compileScenic, @@ -507,3 +513,45 @@ class Foo: digest2 = deterministicHash(mapping2) # Non-scalar values should hash in a stable way, independent of identity. assert digest1 == digest2 + + +def test_xosc_export(getMetadriveSimulator): + simulator, openDrivePath, sumoPath = getMetadriveSimulator("Town01") + code = f""" + param map = r'{openDrivePath}' + param sumo_map = r'{sumoPath}' + + model scenic.simulators.metadrive.model + + behavior DriveAndBrakeForPedestrians(): + try: + do FollowLaneBehavior() + interrupt when withinDistanceToAnyPedestrians(self, 10): + take SetThrottleAction(0), SetBrakeAction(1) + + behavior CrossRoad(): + while distance from self to ego > 15: + wait + take SetWalkingDirectionAction(self.heading), SetWalkingSpeedAction(1) + + ego = new Car with behavior DriveAndBrakeForPedestrians() + + rightCurb = ego.laneGroup.curb + spot = new OrientedPoint on visible rightCurb + + parkedCar = new Car right of spot by 1, with regionContainedIn None + + require distance from ego to parkedCar > 30 + + new Pedestrian ahead of parkedCar by 3, + facing 90 deg relative to parkedCar, + with behavior CrossRoad() + + terminate after 30 seconds + """ + + scenario = compileScenic(code, mode2D=True, params={"map": openDrivePath}) + scene, _ = scenario.generate() + simulationResult = simulator.simulate(scene) + assert simulationResult is not None + xosc_scenario = toOpenScenario(scenario, scene, simulationResult) diff --git a/tests/simulators/metadrive/test_metadrive.py b/tests/simulators/metadrive/test_metadrive.py index 1c1ea9ad1..4fe573d2e 100644 --- a/tests/simulators/metadrive/test_metadrive.py +++ b/tests/simulators/metadrive/test_metadrive.py @@ -84,7 +84,9 @@ def test_pickle(loadLocalScenario): def getMetadriveSimulator(getAssetPath): base = getAssetPath("maps/CARLA") - def _getMetadriveSimulator(town, *, render=False, render3D=False, **kwargs): + def _getMetadriveSimulator( + town, *, render=False, render3D=False, real_time=False, **kwargs + ): openDrivePath = os.path.join(base, f"{town}.xodr") sumoPath = os.path.join(base, f"{town}.net.xml") simulator = MetaDriveSimulator( @@ -92,6 +94,7 @@ def _getMetadriveSimulator(town, *, render=False, render3D=False, **kwargs): xodr_map=openDrivePath, render=render, render3D=render3D, + real_time=real_time, **kwargs, ) return simulator, openDrivePath, sumoPath From 743cf43ce3f61800acc2f3abdcc33a6b1fee6a96 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Thu, 28 May 2026 20:10:51 -0700 Subject: [PATCH 08/18] Fixed metadrive import? --- pyproject.toml | 1 - 1 file changed, 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 2aace9537..6f6cdf907 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -71,7 +71,6 @@ test = [ # minimum dependencies for running tests (used for tox virtualenvs) test-full = [ # like 'test' but adds dependencies for optional features "scenic[test]", # all dependencies from 'test' extra above "scenic[guideways]", # for running guideways modules - "scenic[metadrive]", "scenic[openscenario]", "astor >= 0.8.1", 'carla >= 0.9.12; python_version <= "3.12" and (platform_system == "Linux" or platform_system == "Windows")', From 992be2554b0519fe112ee5ad2ecb01d3ff68c1cd Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Thu, 28 May 2026 20:16:07 -0700 Subject: [PATCH 09/18] Tweaked Metadrive real_time default. --- src/scenic/simulators/metadrive/simulator.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/scenic/simulators/metadrive/simulator.py b/src/scenic/simulators/metadrive/simulator.py index 76607d5bc..075134f55 100644 --- a/src/scenic/simulators/metadrive/simulator.py +++ b/src/scenic/simulators/metadrive/simulator.py @@ -39,7 +39,7 @@ def __init__( timestep=0.1, render=True, render3D=False, - real_time=True, + real_time=None, screen_record=False, screen_record_filename=None, screen_record_path="metadrive_gifs", @@ -51,7 +51,10 @@ def __init__( self.timestep = timestep self.sumo_map = sumo_map self.xodr_map = xodr_map - self.real_time = real_time + if real_time is None: + self.real_time = self.render or self.render3D + else: + self.real_time = real_time self.screen_record = screen_record self.screen_record_filename = screen_record_filename self.screen_record_path = screen_record_path From 15c729a59c114340a3afd1f9830c2b894951b337 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Thu, 28 May 2026 20:38:41 -0700 Subject: [PATCH 10/18] Added documentation --- docs/api.rst | 7 +++++++ docs/simulators.rst | 5 ++++- src/scenic/core/serialization.py | 22 +++++++++++++++++++--- tests/core/test_serialization.py | 2 +- 4 files changed, 31 insertions(+), 5 deletions(-) diff --git a/docs/api.rst b/docs/api.rst index 440f450f2..5cfe99f09 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -173,6 +173,13 @@ it to the replay, but this greatly increases the size of the encoded simulation. can return to one later for further analysis), but it is not guaranteed to be compatible across major versions of Scenic. +.. _xosc_export: +OpenScenarioXML Export +---------------------- +Scenic provides experimental support for exporting completed simulations via `toOpenScenario`. +This function currently only supports cars and pedestrians, and may be subject to breaking changes +in the future. + .. seealso:: If you get exceptions or unexpected behavior when using the API, Scenic provides various debugging features: see :ref:`debugging`. .. rubric:: Footnotes diff --git a/docs/simulators.rst b/docs/simulators.rst index ee5d0b0d1..5a966660b 100644 --- a/docs/simulators.rst +++ b/docs/simulators.rst @@ -14,6 +14,10 @@ See the individual entries for details on each interface's capabilities and how While Scenic aims to support multiple Python versions, some simulators may have more limited compatibility. Be sure to check the documentation of each simulator to confirm which Python versions are supported. +.. note:: + Scenic also supports outputing data in formats that may be imported into other simulators and tools (e.g. :ref:`xosc_export`). + For more details, see :ref:`serialization`. + .. contents:: List of Simulators :local: @@ -163,7 +167,6 @@ This interface is part of the VerifAI toolkit; documentation and examples can be .. _VerifAI repository: https://github.com/BerkeleyLearnVerify/VerifAI - Deprecated ========== diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index ab7058a7e..77fb68938 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -398,12 +398,22 @@ def readStr(stream): def toOpenScenario( + simulationResult, scenario, scene, - simulationResult, mapPath=None, scenarioName="ScenicScenario", ): + """Export a `SimulationResult` as a `scenariogeneration` `xosc` object. + + Args: + simulationResult: The `SimulationResult` to be exported to XOSC + scenario: The scenario from which simulationResult was sampled. + scene: The scene from which simulationResult was sampled. + mapPath: The path to the XODR map used to run the simulation. If + one is not provided the `map` param of the scenario is used. + scenarioName: The name of the scenario in the generated XOSC file. + """ try: import scenariogeneration from scenariogeneration import ScenarioGenerator, xosc @@ -419,8 +429,14 @@ def toOpenScenario( xosc_paramdec = xosc.ParameterDeclarations() # Extract map - assert "map" in scenario.params - map_path = mapPath if mapPath is not None else os.path.abspath(scenario.params["map"]) + if map_path is None: + if "map" not in scenario.params: + raise ValueError( + "No `mapPath` provided and scenario does not have a `map` parameter defined." + ) + map_path = ( + mapPath if mapPath is not None else os.path.abspath(scenario.params["map"]) + ) xosc_road = xosc.RoadNetwork(roadfile=map_path) # Create entitities diff --git a/tests/core/test_serialization.py b/tests/core/test_serialization.py index e7b88ccc2..c4ca8ca0d 100644 --- a/tests/core/test_serialization.py +++ b/tests/core/test_serialization.py @@ -554,4 +554,4 @@ def test_xosc_export(getMetadriveSimulator): scene, _ = scenario.generate() simulationResult = simulator.simulate(scene) assert simulationResult is not None - xosc_scenario = toOpenScenario(scenario, scene, simulationResult) + xosc_scenario = toOpenScenario(simulationResult, scenario, scene) From ab311ca44bc4bf302ba32ed4b3bb5dc2a16673ee Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Thu, 28 May 2026 20:45:31 -0700 Subject: [PATCH 11/18] Minor fixes. --- src/scenic/core/serialization.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index 77fb68938..3e339699c 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -429,15 +429,15 @@ def toOpenScenario( xosc_paramdec = xosc.ParameterDeclarations() # Extract map - if map_path is None: + if mapPath is None: if "map" not in scenario.params: raise ValueError( "No `mapPath` provided and scenario does not have a `map` parameter defined." ) - map_path = ( + mapPath = ( mapPath if mapPath is not None else os.path.abspath(scenario.params["map"]) ) - xosc_road = xosc.RoadNetwork(roadfile=map_path) + xosc_road = xosc.RoadNetwork(roadfile=mapPath) # Create entitities entities = xosc.Entities() From 54a2a5eb8b87922ca0e99f953f6e07ed6fe65376 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Fri, 29 May 2026 06:46:18 -0700 Subject: [PATCH 12/18] Fixed blank line --- docs/api.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/api.rst b/docs/api.rst index 5cfe99f09..23ac150e7 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -176,6 +176,7 @@ it to the replay, but this greatly increases the size of the encoded simulation. .. _xosc_export: OpenScenarioXML Export ---------------------- + Scenic provides experimental support for exporting completed simulations via `toOpenScenario`. This function currently only supports cars and pedestrians, and may be subject to breaking changes in the future. From 25fe1a108ae56beefba1d2fc5ea039fd627525de Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Fri, 29 May 2026 06:56:39 -0700 Subject: [PATCH 13/18] Another blank line? --- docs/api.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/api.rst b/docs/api.rst index 23ac150e7..7f33c12d2 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -174,6 +174,7 @@ it to the replay, but this greatly increases the size of the encoded simulation. compatible across major versions of Scenic. .. _xosc_export: + OpenScenarioXML Export ---------------------- From 518c30810aedbac9a2331b6bbbd3f850cf19cb9a Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Fri, 29 May 2026 07:09:24 -0700 Subject: [PATCH 14/18] Fix scenariogeneration link --- src/scenic/core/serialization.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index 3e339699c..4b0ed9dc7 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -404,7 +404,7 @@ def toOpenScenario( mapPath=None, scenarioName="ScenicScenario", ): - """Export a `SimulationResult` as a `scenariogeneration` `xosc` object. + """Export a `SimulationResult` as a `scenariogeneration.xosc` object. Args: simulationResult: The `SimulationResult` to be exported to XOSC From 96b3ee1bd6419196117a1effe94bb6cc959e4226 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Fri, 29 May 2026 08:09:14 -0700 Subject: [PATCH 15/18] Fixed link --- src/scenic/core/serialization.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/scenic/core/serialization.py b/src/scenic/core/serialization.py index 4b0ed9dc7..97c083734 100644 --- a/src/scenic/core/serialization.py +++ b/src/scenic/core/serialization.py @@ -404,7 +404,7 @@ def toOpenScenario( mapPath=None, scenarioName="ScenicScenario", ): - """Export a `SimulationResult` as a `scenariogeneration.xosc` object. + """Export a `SimulationResult` as a `scenariogeneration.xosc.scenario `_ object. Args: simulationResult: The `SimulationResult` to be exported to XOSC From f9557b568a0eb60f626c3faa34d141454cdbbb76 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Sat, 30 May 2026 14:15:27 -0700 Subject: [PATCH 16/18] Added support for parallel behaviors. --- src/scenic/core/dynamics/behaviors.py | 37 +++++++++++++++++++++------ src/scenic/core/simulators.py | 2 ++ src/scenic/syntax/compiler.py | 4 +-- tests/syntax/test_dynamics.py | 32 +++++++++++++---------- 4 files changed, 52 insertions(+), 23 deletions(-) diff --git a/src/scenic/core/dynamics/behaviors.py b/src/scenic/core/dynamics/behaviors.py index 7c12ef7c2..ebd85dfc6 100644 --- a/src/scenic/core/dynamics/behaviors.py +++ b/src/scenic/core/dynamics/behaviors.py @@ -109,7 +109,7 @@ def alarmHandler(signum, frame): try: actions = self._runningIterator.send(None) except StopIteration: - actions = () # behavior ended early + return None return actions def _stop(self, reason=None): @@ -124,18 +124,39 @@ def _isFinished(self): def _invokeInner(self, agent, subs): import scenic.syntax.veneer as veneer - assert len(subs) == 1 - sub = subs[0] - if not isinstance(sub, Behavior): - raise TypeError(f"expected a behavior, got {sub}") - sub._start(agent) - with veneer.executeInBehavior(sub): + # Validate all inner behaviors + for sub in subs: + if not isinstance(sub, Behavior): + raise TypeError(f"expected a behavior, got {sub}") + sub._start(agent) + + # Create a generator for each inner behavior that yields the appropriate actions, cleaning up when done. + def make_inner_generator(sub): try: - yield from sub._runningIterator + while sub._isRunning: + actions = sub._step() + if actions is None: + return + yield actions finally: if sub._isRunning: sub._stop() + inner_generators = [make_inner_generator(sub) for sub in subs] + + # Yield from a generator that zips all the inner generators together without padding, until all inner generators have terminated. + while True: + try: + raw_actions = next(itertools.zip_longest(*inner_generators)) + yield tuple( + filter( + lambda x: x is not None, + itertools.chain.from_iterable(raw_actions), + ) + ) + except StopIteration: + return + def __repr__(self): items = itertools.chain( (repr(arg) for arg in self._args), diff --git a/src/scenic/core/simulators.py b/src/scenic/core/simulators.py index f662c451d..97469f479 100644 --- a/src/scenic/core/simulators.py +++ b/src/scenic/core/simulators.py @@ -489,6 +489,8 @@ def _run(self, dynamicScenario, maxSteps): # Run the agent's behavior to get its actions actions = agent.behavior._step() + if actions is None: + actions = tuple() # Handle pseudo-actions marking the end of a simulation/scenario if isinstance(actions, _EndSimulationAction): diff --git a/src/scenic/syntax/compiler.py b/src/scenic/syntax/compiler.py index 0bf027823..ac1beeae9 100644 --- a/src/scenic/syntax/compiler.py +++ b/src/scenic/syntax/compiler.py @@ -1249,9 +1249,9 @@ def visit_TerminateSimulation(self, node: s.TerminateSimulation): @context(Context.DYNAMIC) def visit_Do(self, node: s.Do): - if (self.inBehavior or self.inMonitor) and len(node.elts) > 1: + if self.inMonitor and len(node.elts) > 1: raise self.makeSyntaxError( - f"`do` can only take one action inside a {'behavior' if self.inBehavior else 'monitor'}", + f"`do` can only take one action inside a monitor", node, ) return self.makeDoLike(node, node.elts) diff --git a/tests/syntax/test_dynamics.py b/tests/syntax/test_dynamics.py index 4699a2921..3a7bd3c43 100644 --- a/tests/syntax/test_dynamics.py +++ b/tests/syntax/test_dynamics.py @@ -188,6 +188,25 @@ def test_behavior_take_empty_tuple(): assert tuple(actions) == (None, 7) +def test_parallel_behaviors(): + scenario = compileScenic( + """ + behavior Fizz(): + take "Fizz" + + behavior Buzz(): + take "Buzz" + + behavior Foo(): + take "Start" + do Buzz(), Fizz() + ego = new Object with behavior Foo + """ + ) + actions = sampleEgoActions(scenario, maxSteps=2, singleAction=False) + assert tuple(actions) == (("Start",), ("Buzz", "Fizz")) + + # Various errors @@ -770,19 +789,6 @@ def test_behavior_invoke_mistyped(): sampleActions(scenario) -def test_behavior_invoke_multiple(): - with pytest.raises(ScenicSyntaxError): - compileScenic( - """ - behavior Foo(): - take 5 - behavior Bar(): - do Foo(), Foo() - ego = new Object with behavior Bar - """ - ) - - def test_behavior_tuple_invalid(): scenario = compileScenic( """ From 2c1551d8e560efcf538948603e47b2b85912a48a Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Sat, 30 May 2026 14:19:24 -0700 Subject: [PATCH 17/18] Naming tweak. --- src/scenic/core/dynamics/behaviors.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/scenic/core/dynamics/behaviors.py b/src/scenic/core/dynamics/behaviors.py index ebd85dfc6..f33e2ce8e 100644 --- a/src/scenic/core/dynamics/behaviors.py +++ b/src/scenic/core/dynamics/behaviors.py @@ -147,7 +147,7 @@ def make_inner_generator(sub): # Yield from a generator that zips all the inner generators together without padding, until all inner generators have terminated. while True: try: - raw_actions = next(itertools.zip_longest(*inner_generators)) + raw_actions_list = next(itertools.zip_longest(*inner_generators)) yield tuple( filter( lambda x: x is not None, From 28f7c77eea290e8136a77731353ebde15b56b985 Mon Sep 17 00:00:00 2001 From: Eric Vin Date: Sat, 30 May 2026 14:22:19 -0700 Subject: [PATCH 18/18] Small fix. --- src/scenic/core/dynamics/behaviors.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/scenic/core/dynamics/behaviors.py b/src/scenic/core/dynamics/behaviors.py index f33e2ce8e..1bab40903 100644 --- a/src/scenic/core/dynamics/behaviors.py +++ b/src/scenic/core/dynamics/behaviors.py @@ -151,7 +151,7 @@ def make_inner_generator(sub): yield tuple( filter( lambda x: x is not None, - itertools.chain.from_iterable(raw_actions), + itertools.chain.from_iterable(raw_actions_list), ) ) except StopIteration: