Merge branch 'main' into dfremont_optimizations

BerkeleyLearnVerify · Jan 18, 2025 · 9352f85 · 9352f85
2 parents d633f10 + dcd0213
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diff --git a/.github/workflows/on-call-reminder.yml b/.github/workflows/on-call-reminder.yml
@@ -11,10 +11,10 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Set up Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: '3.12'
 

diff --git a/.github/workflows/run-coverage.yml b/.github/workflows/run-coverage.yml
@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        python-version: ["3.11"]
+        python-version: ["3.12"]
         os: [ubuntu-latest]
         extras: ["test-full"]
     runs-on: ${{ matrix.os }}

diff --git a/.github/workflows/run-tests.yml b/.github/workflows/run-tests.yml
@@ -34,8 +34,11 @@ jobs:
       fail-fast: true
       matrix:
         python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
-        os: [ubuntu-latest, windows-latest]
-        extras: ["test", "test-full"]
+        os: [ubuntu-latest, windows-latest, macos-13, macos-latest]
+        include:
+          # Only run slow tests on the latest version of Python
+          - python-version: "3.12"
+            slow: true
     runs-on: ${{ matrix.os }}
 
     steps:
@@ -63,8 +66,8 @@ jobs:
 
     - name: Install Scenic and dependencies
       run: |
-        python -m pip install -e ".[${{ matrix.extras }}]"
+        python -m pip install -e ".[test-full]"
 
     - name: Run pytest
       run: |
-        pytest ${{ inputs.options || '--no-graphics' }}
+        pytest ${{ inputs.options || (matrix.slow && '--no-graphics' || '--fast --no-graphics') }}
diff --git a/docs/simulators.rst b/docs/simulators.rst
@@ -94,6 +94,8 @@ We have several interfaces to the `Webots robotics simulator <https://cyberbotic
 Our main interface provides a generic world model that can be used with any Webots world and supports dynamic scenarios.
 See the :file:`examples/webots` folder for example Scenic scenarios and Webots worlds using this interface, and `scenic.simulators.webots` for documentation.
 
+Scenic currently interfaces with Webots versions greater than or equal to 2023a.
+
 Scenic also includes more specialized world models for use with Webots:
 
 	* A general model for traffic scenarios, used in `our VerifAI paper`_.

diff --git a/examples/carla/Carla_Challenge/carlaChallenge1.scenic b/examples/carla/Carla_Challenge/carlaChallenge1.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 01.
 Control loss without previous action.
 The ego-vehicle loses control due to bad conditions on the road and it must recover, coming back to
 its original lane.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge1.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge10.scenic b/examples/carla/Carla_Challenge/carlaChallenge10.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 10.
 Crossing negotiation at an unsignalized intersection.
 The ego-vehicle needs to negotiate with other vehicles to cross an unsignalized intersection. In
 this situation it is assumed that the first to enter the intersection has priority.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge10.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge2.scenic b/examples/carla/Carla_Challenge/carlaChallenge2.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 02.
 Longitudinal control after leading vehicle’s brake.
 The leading vehicle decelerates suddenly due to an obstacle and the ego-vehicle must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge2.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic b/examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 03 (dynamic).
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic b/examples/carla/Carla_Challenge/carlaChallenge3_static.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 03 (static).
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge3_static.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge4.scenic b/examples/carla/Carla_Challenge/carlaChallenge4.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 04.
 Obstacle avoidance without prior action.
 The ego-vehicle encounters an obstacle / unexpected entity on the road and must perform an
 emergency brake or an avoidance maneuver.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge4.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge5.scenic b/examples/carla/Carla_Challenge/carlaChallenge5.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Based on 2019 Carla Challenge Traffic Scenario 05.
 Ego-vehicle performs a lane changing to evade a leading vehicle, which is moving too slowly.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge5.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'

diff --git a/examples/carla/Carla_Challenge/carlaChallenge6.scenic b/examples/carla/Carla_Challenge/carlaChallenge6.scenic
@@ -2,6 +2,9 @@
 Based on CARLA Challenge Scenario 6: https://carlachallenge.org/challenge/nhtsa/
 Ego-vehicle must go around a blocking object
 using the opposite lane, yielding to oncoming traffic.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge6.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 # N.B. Town07 is not included with CARLA by default; see installation instructions at

diff --git a/examples/carla/Carla_Challenge/carlaChallenge7.scenic b/examples/carla/Carla_Challenge/carlaChallenge7.scenic
@@ -3,6 +3,9 @@ Based on 2019 Carla Challenge Traffic Scenario 07.
 Ego-vehicle is going straight at an intersection but a crossing vehicle 
 runs a red light, forcing the ego-vehicle to perform a collision avoidance maneuver.
 Note: The traffic light control is not implemented yet, but it will soon be. 
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge7.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'

diff --git a/examples/carla/Carla_Challenge/carlaChallenge8.scenic b/examples/carla/Carla_Challenge/carlaChallenge8.scenic
@@ -3,6 +3,9 @@ Traffic Scenario 08.
 Unprotected left turn at intersection with oncoming traffic.
 The ego-vehicle is performing an unprotected left turn at an intersection, yielding to oncoming
 traffic.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge8.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)

diff --git a/examples/carla/Carla_Challenge/carlaChallenge9.scenic b/examples/carla/Carla_Challenge/carlaChallenge9.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Based on 2019 Carla Challenge Traffic Scenario 09.
 Ego-vehicle is performing a right turn at an intersection, yielding to crossing traffic.
+
+To run this file using the Carla simulator:
+    scenic examples/carla/Carla_Challenge/carlaChallenge9.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
 param carla_map = 'Town05'

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle performs a lane change to bypass a slow 
 adversary vehicle before returning to its original lane.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Adversary vehicle performs a lane change to bypass the 
 slow ego vehicle before returning to its original lane.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_02.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic
@@ -6,6 +6,9 @@ adversary vehicle but cannot return to its original lane because
 the adversary accelerates. Ego vehicle must then slow down to avoid 
 collision with leading vehicle in new lane.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle performs multiple lane changes to bypass 
 two slow adversary vehicles.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic b/examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle performs multiple lane changes to bypass three 
 slow adversary vehicles.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/bypassing/bypassing_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle goes straight at 4-way intersection and must
 suddenly stop to avoid collision when adversary vehicle from opposite 
 lane makes a left turn.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_01.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle makes a left turn at 4-way intersection and
 must suddenly stop to avoid collision when adversary vehicle from 
 opposite lane goes straight.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_02.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle either goes straight or makes a left turn at
 4-way intersection and must suddenly stop to avoid collision when 
 adversary vehicle from lateral lane continues straight.
 SOURCE: NHSTA, #28 #29
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle either goes straight or makes a left turn at
 4-way intersection and must suddenly stop to avoid collision when 
 adversary vehicle from lateral lane makes a left turn.
 SOURCE: NHSTA, #28 #29
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle makes a right turn at 4-way intersection 
 while adversary vehicle from opposite lane makes a left turn.
 SOURCE: NHSTA, #25
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle makes a right turn at 4-way intersection while 
 adversary vehicle from lateral lane goes straight.
 SOURCE: NHSTA, #25 #26
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_06.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle makes a left turn at 3-way intersection and
 must suddenly stop to avoid collision when adversary vehicle from 
 lateral lane continues straight.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_07.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego vehicle goes straight at 3-way intersection and must
 suddenly stop to avoid collision when adversary vehicle makes a left 
 turn.
 SOURCE: NHSTA, #30
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_08.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle makes a right turn at 3-way intersection 
 while adversary vehicle from lateral lane goes straight.
 SOURCE: NHSTA, #28 #29
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_09.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic b/examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic
@@ -5,6 +5,9 @@ DESCRIPTION: Ego Vehicle waits at 4-way intersection while adversary
 vehicle in adjacent lane passes before performing a lane change to 
 bypass a stationary vehicle waiting to make a left turn.
 SOURCE: NHSTA, #16
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/intersection/intersection_10.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle must suddenly stop to avoid collision when 
 pedestrian crosses the road unexpectedly.
 SOURCE: Carla Challenge, #03
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_01.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Both ego and adversary vehicles must suddenly stop to avoid 
 collision when pedestrian crosses the road unexpectedly.
 SOURCE: Carla Challenge, #03
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_02.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle makes a left turn at an intersection and must 
 suddenly stop to avoid collision when pedestrian crosses the crosswalk.
 SOURCE: Carla Challenge, #04
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_03.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle makes a right turn at an intersection and must 
 yield when pedestrian crosses the crosswalk.
 SOURCE: Carla Challenge, #04
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_04.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic b/examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic
@@ -4,6 +4,9 @@ AUTHOR: Francis Indaheng, [email protected]
 DESCRIPTION: Ego vehicle goes straight at an intersection and must 
 yield when pedestrian crosses the crosswalk.
 SOURCE: Carla Challenge, #04
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/pedestrian/pedestrian_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 #################################

diff --git a/examples/carla/OAS_Scenarios/oas_scenario_05.scenic b/examples/carla/OAS_Scenarios/oas_scenario_05.scenic
@@ -1,6 +1,9 @@
 """ Scenario Description
 Voyage OAS Scenario Unique ID: 2-2-XX-CF-STR-CAR:Pa>E:03
 The lead car suddenly stops and then resumes moving forward
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/OAS_Scenarios/oas_scenario_05.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 param map = localPath('../../../assets/maps/CARLA/Town01.xodr')  # or other CARLA map that definitely works

diff --git a/examples/carla/OAS_Scenarios/oas_scenario_06.scenic b/examples/carla/OAS_Scenarios/oas_scenario_06.scenic
@@ -2,6 +2,9 @@
 Voyage OAS Scenario Unique ID: 2-2-XX-CF-STR-CAR:Pa>E:03
 The car ahead of ego that is badly parked over the sidewalk cuts into ego vehicle's lane.
 This scenario may fail if there exists any obstacle (e.g. fences) on the sidewalk 
+
+To run this file using the Carla simulator:
+    scenic examples/carla/NHTSA_Scenarios/OAS_Scenarios/oas_scenario_06.scenic --2d --model scenic.simulators.carla.model --simulate
 """
 
 

diff --git a/examples/carla/adjacentLanes.scenic b/examples/carla/adjacentLanes.scenic
@@ -1,3 +1,8 @@
+'''
+To run this file using the Carla simulator:
+    scenic examples/carla/adjacentLanes.scenic --2d --model scenic.simulators.carla.model
+'''
+
 param map = localPath('../../assets/maps/CARLA/Town03.xodr')
 model scenic.simulators.carla.model