OpenScenarioXML Export by Eric-Vin · Pull Request #421 · BerkeleyLearnVerify/Scenic

Eric-Vin · 2025-11-18T23:11:18Z

Description

Added experimental functionality to export the result of a Scenic simulation to OpenScenarioXML.

Issue Link

#334 #32

Checklist

I have tested the changes locally via pytest and/or other means
I have added or updated relevant documentation
I have autoformatted the code with black and isort
I have added test cases (if applicable)

Additional Notes

N/A

codecov · 2025-11-25T22:02:52Z

Codecov Report

❌ Patch coverage is 17.56757% with 61 lines in your changes missing coverage. Please review.
✅ Project coverage is 87.97%. Comparing base (4be87bd) to head (96b3ee1).

Files with missing lines	Patch %	Lines
src/scenic/core/serialization.py	6.15%	61 Missing ⚠️

❌ Your patch check has failed because the patch coverage (17.56%) is below the target coverage (80.00%). You can increase the patch coverage or adjust the target coverage.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #421      +/-   ##
==========================================
- Coverage   89.85%   87.97%   -1.89%     
==========================================
  Files          48       48              
  Lines       13346    13419      +73     
==========================================
- Hits        11992    11805     -187     
- Misses       1354     1614     +260

Files with missing lines	Coverage Δ
src/scenic/core/simulators.py	`83.76% <100.00%> (-12.08%)`	⬇️
src/scenic/core/serialization.py	`34.79% <6.15%> (-56.55%)`	⬇️

... and 10 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

Eric-Vin · 2026-05-29T03:47:16Z

An example scenario of a pedestrian crossing the road, occluded by a car, simulated in Metadrive and then exported to XOSC and replayed in ESMINI.
Metadrive GIF:

ESMINI Replay MP4:
https://github.com/user-attachments/assets/e7032e35-11f1-49e3-8634-6703ead6e9ba

dfremont · 2026-06-16T19:27:46Z

+OpenScenarioXML Export
+----------------------
+
+Scenic provides experimental support for exporting completed simulations via `toOpenScenario`.


This function lives in an internal module whose documentation says "The functions in this module usually do not need to be used directly.", so I think it's confusing to link to it here. How about making a method Scenario.toOpenScenario parallel to Scenario.simulationToBytes?

dfremont · 2026-06-16T19:30:37Z

+    simulationResult,
+    scenario,
+    scene,


Unless there's a particular reason to separate these, I think it would be simpler to just take a Simulation as input (which has a reference to the underlying Scene) and have this be a method on Scenario.

dfremont · 2026-06-16T19:32:16Z

+                "No `mapPath` provided and scenario does not have a `map` parameter defined."
+            )
+        mapPath = (
+            mapPath if mapPath is not None else os.path.abspath(scenario.params["map"])


How can mapPath not be None here?

dfremont · 2026-06-16T19:36:42Z

+    # Create entitities
+    entities = xosc.Entities()
+    xosc_objects = {}
+    for obj_i, obj in enumerate(scene.objects):


Presumably this will break for dynamically-created objects. If XOSC doesn't support them we could raise an exception if they are present in the simulation, but at some point we should try to handle the case where all the objects are created dynamically in the first timestep.

dfremont · 2026-06-16T20:17:46Z

+    entities = xosc.Entities()
+    xosc_objects = {}
+    for obj_i, obj in enumerate(scene.objects):
+        if hasattr(obj, "isVehicle") and obj.isVehicle:


Suggested change

if hasattr(obj, "isVehicle") and obj.isVehicle:

if getattr(obj, "isVehicle", False):

dfremont · 2026-06-16T20:18:27Z

+    xosc_objects = {}
+    for obj_i, obj in enumerate(scene.objects):
+        if hasattr(obj, "isVehicle") and obj.isVehicle:
+            obj_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}"


Suggested change

obj_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}"

obj_name = getattr(obj, "name", f"Vehicle{obj_i}")

dfremont · 2026-06-16T20:19:45Z

+        elif hasattr(obj, "isPedestrian") and obj.isPedestrian:
+            obj_name = obj.name if hasattr(obj, "name") else f"Pedestrian{obj_i}"


Can simplify as above.

dfremont · 2026-06-16T20:20:51Z

+            )
+            xosc_obj = xosc.Pedestrian(
+                name=obj_name,
+                mass=obj.mass,


Is mass required for pedestrians but not for cars?

dfremont · 2026-06-16T20:27:13Z

        """
-        return tuple(obj.position for obj in self.objects)
+
+        class SimulationState(tuple):


Should update the docstring now that the positions and orientations attributes are available. While we're at it we should probably discourage overriding this method, except possibly by adding extra attributes to SimulationState.

dfremont · 2026-06-16T20:32:26Z

+                    obj, states.positions[obj_i], states.orientations[obj_i].yaw
+                )
+            )
+            action_times.append(simulationResult.timestep * t)


SimulationResult doesn't have a timestep attribute, so I don't understand how your test can be passing.

Oh, I see, it's actually a Simulation object. Better change the name of the parameter!

dfremont · 2026-06-16T20:36:26Z

+            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.


Did you mean 35 degrees, as in the code?

dfremont · 2026-06-16T20:36:59Z

+        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.


Doesn't actually say what this means.

dfremont · 2026-06-16T20:39:13Z

+    toOpenScenario,
+)
 from scenic.core.simulators import DivergenceError, DummySimulator
+from tests.simulators.metadrive.test_metadrive import getMetadriveSimulator


Can we use the Newtonian simulator instead? I think this would be the first core test which uses a non-built-in simulator, and we should be able to do this test without the optional MetaDrive dependency.

dfremont · 2026-06-16T21:07:09Z

+            facing 90 deg relative to parkedCar,
+            with behavior CrossRoad()
+
+        terminate after 30 seconds


I'd make the simulation much shorter, just a few steps, so that the test runs faster. I also don't think there's any particular need to use a complex scenario here, and the test would be easier to read if the scenario just had the minimum stuff necessary (say a couple cars, one with FollowLaneBehavior, plus a pedestrian with an initial velocity).

dfremont

Looks good overall, just one issue (how to handle/ban dynamically spawned objects) and a bunch of minor comments above.

Eric-Vin · 2026-06-17T02:32:36Z

+
+    for obj, xosc_obj in xosc_objects.items():
+        obj_init_action = xosc.TeleportAction(
+            pos_to_WorldPosition(obj, obj.position, obj.yaw)


Should reference obj.heading instead of obj.yaw.

Eric-Vin · 2026-06-17T02:32:57Z

+        for t, states in enumerate(simulationResult.trajectory):
+            action_positions.append(
+                pos_to_WorldPosition(
+                    obj, states.positions[obj_i], states.orientations[obj_i].yaw


Should reference states.orientations[obj_i].heading instead of states.orientations[obj_i].yaw

Eric-Vin added 2 commits November 16, 2025 20:55

Work on OpenScenarioXML Export.

1cd2aa6

Initial OpenScenarioXML export implementation.

8c056c2

Eric-Vin marked this pull request as draft November 18, 2025 23:11

Eric-Vin added 3 commits November 19, 2025 09:28

Tidying up

048d3f0

Fixed coordinate system

6ff049a

Updated dependencies and fixed wheelbase offset

0b45e3d

Added pedestrians to OpenScenarioXML export

8ecd602

Eric-Vin linked an issue Feb 21, 2026 that may be closed by this pull request

Conversion between scenic and openscenario #334

Open

Eric-Vin mentioned this pull request Feb 21, 2026

Can Scenic replace OpenSCENARIO? #32

Closed

Eric-Vin added 5 commits May 28, 2026 15:57

Merge branch 'main' into OpenScenarioXML

8685fac

XOSC export improvements, fixes, and test.

5e2b7e3

Fixed metadrive import?

743cf43

Tweaked Metadrive real_time default.

992be25

Added documentation

15c729a

Eric-Vin changed the title ~~[WIP] OpenScenarioXML Export~~ OpenScenarioXML Export May 29, 2026

Eric-Vin marked this pull request as ready for review May 29, 2026 03:39

Eric-Vin requested a review from dfremont May 29, 2026 03:39

Minor fixes.

ab311ca

Eric-Vin added 4 commits May 29, 2026 06:46

Fixed blank line

54a2a5e

Another blank line?

25fe1a1

Fix scenariogeneration link

518c308

Fixed link

96b3ee1

dfremont reviewed Jun 16, 2026

View reviewed changes

dfremont requested changes Jun 16, 2026

View reviewed changes

Eric-Vin commented Jun 17, 2026

View reviewed changes

	if hasattr(obj, "isVehicle") and obj.isVehicle:
	if getattr(obj, "isVehicle", False):

	obj_name = obj.name if hasattr(obj, "name") else f"Vehicle{obj_i}"
	obj_name = getattr(obj, "name", f"Vehicle{obj_i}")

		elif hasattr(obj, "isPedestrian") and obj.isPedestrian:
		obj_name = obj.name if hasattr(obj, "name") else f"Pedestrian{obj_i}"

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Eric-Vin commented Nov 18, 2025 •

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