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BerkeleyLearnVerify / Scenic

A compiler and scenario generator for the Scenic scenario description language.
https://scenic-lang.org/
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Diverging CARLA vehicle blueprints #43

Open leofernandeso opened 2 years ago

leofernandeso commented 2 years ago

Hello everyone,

I was working with Scenic with CARLA as the simulator and ran into some problems due to the fact that there are some divergences between the CARLA Scenic blueprint library, i.e https://github.com/BerkeleyLearnVerify/Scenic/blob/master/src/scenic/simulators/carla/blueprints.scenic

Some examples:

  1. Scenic blueprint: vehicle.mustang.mustang ; CARLA blueprint: vehicle.ford.mustang
  2. Scenic blueprint: vehicle.dodge_charger.police ; CARLA blueprint: vehicle.dodge.charger_police

The list goes on for some 3 or 4 issues.

It seems to me that just correcting the list would solve the problem. Would a PR be desired to solve this issue? Would be glad to help here.

EDIT: Maybe a better option could be to pull the available blueprints from the CARLA library during runtime, in order to avoid such divergences between a "manually" crafted list.

All the best.

dfremont commented 2 years ago

Thanks for catching this! We have applied your fixes, but with a mechanism to fall back to the old blueprint names so that we don't break compatibility with older versions of CARLA. Please let me know if you still encounter issues.

Unfortunately it's not possible to access the blueprint library until simulation time, and even then it doesn't currently provide enough information to distinguish bicycles from motorcycles for example. Once that changes in this CARLA PR get released we could enumerate certain types of vehicle blueprints at runtime, so I'll leave this issue open for now.