update from OpenSCENARIO 2.0 to OpenSCENARIO DSL V2.1.0 (#221)

Author: fmirus

README.md

@@ -3,7 +3,7 @@
 [![Super-Linter](https://github.com/IntelLabs/Scenario_Execution/actions/workflows/scan.yml/badge.svg)](https://github.com/marketplace/actions/super-linter)
 [![OpenSSF Scorecard](https://api.scorecard.dev/projects/github.com/IntelLabs/scenario_execution/badge)](https://scorecard.dev/viewer/?uri=github.com/IntelLabs/scenario_execution)
 
-Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language [OpenSCENARIO 2](https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html) and [pytrees](https://py-trees.readthedocs.io/en/devel/).
+Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language [OpenSCENARIO DSL](https://www.asam.net/standards/detail/openscenario-dsl/) and [pytrees](https://py-trees.readthedocs.io/en/devel/).
 It reads a scenario definition from a file and then executes it, reusing available checks and actions. It is easily extendable through a library mechanism.
 This separation of the scenario definition from implementation massively reduces the manual efforts of scenario creation.
 

docs/architecture.rst

@@ -7,8 +7,8 @@ Architecture
 
    Overview of Scenario Execution
 
-Scenario execution is built as a Python library on top of two open-source components: the generic scenario description language `OpenSCENARIO 2 <https://www.asam.net/index.php?eID=dumpFile&t=f&f=3460&token=14e7c7fab9c9b75118bb4939c725738fa0521fe9>`_ and `PyTrees  <https://py-trees.readthedocs.io/en/devel/introduction.html>`_.
-In general, the user defines a scenario in the OpenSCENARIO 2 language, scenario execution parses the scenario, translates it to a behavior tree, executes it and finally gathers the test results.
+Scenario execution is built as a Python library on top of two open-source components: the generic scenario description language `OpenSCENARIO DSL <https://www.asam.net/index.php?eID=dumpFile&t=f&f=3460&token=14e7c7fab9c9b75118bb4939c725738fa0521fe9>`_ and `PyTrees  <https://py-trees.readthedocs.io/en/devel/introduction.html>`_.
+In general, the user defines a scenario in the OpenSCENARIO DSL language, scenario execution parses the scenario, translates it to a behavior tree, executes it and finally gathers the test results.
 
 
 .. figure:: images/scenario_execution_arch.png
@@ -18,7 +18,7 @@ In general, the user defines a scenario in the OpenSCENARIO 2 language, scenario
 
 Our implementation is highly modular separating the core components from simulation- and/or middleware-specific modules realized through a plugin-based approach. 
 In principle, any additional feature that is required by a specific scenario and that can be implemented in Python could be realized as additional library.
-A library typically provides an OpenSCENARIO 2 file with additional definitions and may provide code implementing additional functionality such as conditions or actions.
+A library typically provides an OpenSCENARIO DSL file with additional definitions and may provide code implementing additional functionality such as conditions or actions.
 
 Currently, the following sub-packages and libraries are available:
 
@@ -63,11 +63,11 @@ The Internal Model Builder, implemented as a Model Listener does an initial chec
 Modules
 -------
 
-- ``scenario_execution``: The base package for scenario execution. It provides the parsing of OpenSCENARIO 2 files and the conversion to py-trees. It's middleware agnostic and can therefore be used as a basis for more specific implementations (e.g. ROS). It also provides basic OpenSCENARIO 2 libraries and actions.
-- ``scenario_execution_ros``: This package uses ``scenario_execution`` as a basis and implements a ROS2 version of scenario execution. It provides a OpenSCENARIO 2 library with basic ROS2-related actions like publishing on a topic or calling a service.
+- ``scenario_execution``: The base package for scenario execution. It provides the parsing of OpenSCENARIO DSL files and the conversion to py-trees. It's middleware agnostic and can therefore be used as a basis for more specific implementations (e.g. ROS). It also provides basic OpenSCENARIO DSL libraries and actions.
+- ``scenario_execution_ros``: This package uses ``scenario_execution`` as a basis and implements a ROS2 version of scenario execution. It provides a OpenSCENARIO DSL library with basic ROS2-related actions like publishing on a topic or calling a service.
 - ``scenario_execution_control``: Provides code to control scenario execution (in ROS2) from another application such as RViz.
-- ``scenario_execution_coverage``: Provides tools to generate concrete scenarios from abstract OpenSCENARIO 2 scenario definition and execute them.
-- ``scenario_execution_gazebo``: Provides a `Gazebo <https://gazebosim.org/>`_-specific OpenSCENARIO 2 library with actions.
+- ``scenario_execution_coverage``: Provides tools to generate concrete scenarios from abstract OpenSCENARIO DSL scenario definition and execute them.
+- ``scenario_execution_gazebo``: Provides a `Gazebo <https://gazebosim.org/>`_-specific OpenSCENARIO DSL library with actions.
 - ``scenario_execution_interfaces``: Provides ROS2 `interfaces <https://docs.ros.org/en/rolling/Concepts/Basic/About-Interfaces.html>`__, more specifically, messages and services, which are used to interface ROS2 with the ``scenario_execution_control`` package.
 - ``scenario_execution_rviz``: Contains several `rviz <https://github.com/ros2/rviz>`__ plugins for visualizing and controlling scenarios when working with ROS2.
 - ``simulation/gazebo_tf_publisher``: Publish ground truth transforms from simulation within TF.

docs/index.rst

@@ -3,7 +3,7 @@ Scenario Execution
 ==================
 
 Scenario Execution for Robotics is a backend- and middleware-agnostic library, that enables the robotics community to perform reproducible experiments at scale and allows a seamless transition from simulation to real-world experiments.
-Scenario Execution is written in Python and builds upon the generic scenario description language `OpenScenario2 <https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html>`__ and `pytrees <https://py-trees.readthedocs.io/en/devel/>`__.  
+Scenario Execution is written in Python and builds upon the generic scenario description language `OpenSCENARIO DSL <https://www.asam.net/standards/detail/openscenario-dsl/>`__ and `pytrees <https://py-trees.readthedocs.io/en/devel/>`__.  
 
 Scenario Execution reads a scenario definition from a file, translates it to a py-trees behavior tree and then executes it. This separation of the scenario definition from the implementation massively reduces the manual efforts of (robotics) scenario creation.
 Although Scenario Execution can be used as a pure Python library, it is mainly targeted to be used with the `Robot Operating System (ROS2) <https://www.ros.org/>`__. The backend-agnostic implementation allows Scenario Execution to be used with both, robotics simulators such as `Gazebo <https://gazebosim.org/>`__ and physical robots, with minimal adaptations necessary in the scenario description file. 
@@ -37,5 +37,5 @@ If you use Scenario Execution for Robotics in your scientific work, please cite
    architecture
    libraries
    development
-   openscenario2
+   openscenarioDSL
    how_to_cite

docs/libraries.rst

@@ -1,7 +1,7 @@
 Libraries
 =========
 
-Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.standard`` and ``osc.standard_base``), multiple libraries are provided with scenario execution.
+Beside ``osc.standard`` and ``osc.types`` provided by OpenSCENARIO DSL, multiple libraries are provided with scenario execution.
 
 .. list-table:: 
    :widths: 40 60

docs/openscenario2.rst renamed to docs/openscenarioDSL.rst

@@ -1,17 +1,16 @@
-OpenSCENARIO 2
-==============
+OpenSCENARIO DSL
+================
 
 General
 -------
 
-This tool supports a subset of the `OpenSCENARIO
-2 <https://www.asam.net/project-detail/asam-openscenario-v20-1/>`__ standard.
+This tool supports a subset of the `OpenSCENARIO DSL <https://www.asam.net/standards/detail/openscenario-dsl/>`__ standard.
 
 The official documentation is available
-`here <https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html>`__.
+`here <https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_DSL/latest/index.html>`__.
 
 The `standard library of
-OSC2 <https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/domain-model/standard_library.html>`__
+OSC2 <https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_DSL/latest/domain-model/_attachments/ASAM_OpenSCENARIO_DSL_v2.1.0_Domain_model_library.zip>`__
 was adapted to be usable by the current parsing support of scenario execution.
 
 
@@ -46,7 +45,7 @@ Mapping to py-trees
 Supported features
 ------------------
 
-In the following the OpenSCENARIO 2 keywords are listed with their current support status.
+In the following the OpenSCENARIO DSL keywords are listed with their current support status.
 
 
 ======================= ==================== =============================

docs/tutorials.rst

@@ -8,13 +8,13 @@ Code for all tutorials is available in :repo_link:`examples`.
 Define and Execute Scenario
 ---------------------------
 
-To create a scenario in OpenSCENARIO 2 syntax, first create a file
+To create a scenario in OpenSCENARIO DSL syntax, first create a file
 with the extension ``.osc``. Input the following code in the file.
 
 .. code-block::
 
    # import the libraries with import expression
-   import osc.standard.base
+   import osc.types
    import osc.helpers
 
    # declare the scenario by the syntax: "scenario scenario_name:"
@@ -25,17 +25,17 @@ with the extension ``.osc``. Input the following code in the file.
            wait elapsed(3s)   # wait three seconds
            log("Good Bye!")         # log another message
 
-The first two lines ``import osc.standard.base`` and ``import osc.helpers`` will import the named libraries that provide required definitions. In this example ``helpers`` library provides the ``log`` action and ``standard.base`` provides the definition of the `s` unit to specify seconds.
+The first two lines ``import osc.types`` and ``import osc.helpers`` will import the named libraries that provide required definitions. In this example ``helpers`` library provides the ``log`` action and ``types`` provides the definition of the `s` unit to specify seconds.
 
 .. note::
-   Comments in OpenSCENARIO 2 always start with ``#``.
+   Comments in OpenSCENARIO DSL always start with ``#``.
 
 Then, a scenario with the name ``hello_world`` get declared. The following colon states that all following and indented lines
 are part of it. The single top-level action of the scenario is defined in the ``do`` directive.
 The term ``serial`` states that the included actions will be executed in sequence.
 
 .. note::
-   OpenSCENARIO 2 supports the following compositions:
+   OpenSCENARIO DSL supports the following compositions:
 
    * ``parallel``: execute actions in parallel, continue afterwards
    * ``serial``: execute actions, one after the other
@@ -70,11 +70,11 @@ Create Scenario Library
 -----------------------
 
 To add new features to scenario execution, extensions libraries can be created. An extension library typically provides one or more
-OpenSCENARIO 2 definition files and might additionally provide action implementations.
+OpenSCENARIO DSL definition files and might additionally provide action implementations.
 
 To show how to create such a library for scenario execution, we will add a ``custom_action`` action as an example.
 
-First, we need to define the ``custom_action`` in a OpenSCENARIO 2 file.
+First, we need to define the ``custom_action`` in a OpenSCENARIO DSL file.
 
 .. code-block::
 
@@ -417,7 +417,7 @@ It is possible to call external python methods and use their return value within
 
 .. code-block::
 
-    import osc.standard.base
+    import osc.types
     import osc.helpers
 
     struct lib:

examples/example_external_method/scenarios/example_external_method.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 struct lib:
@@ -7,4 +7,4 @@ struct lib:
 scenario example_external_method:
 
     do serial:
-        log(lib.factorial(4))
+        log(lib.factorial(4))

examples/example_scenario/hello_world.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 scenario hello_world:

libs/scenario_execution_floorplan_dsl/scenario_execution_floorplan_dsl/lib_osc/floorplan_dsl.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 
 actor floorplan_generator:
     result: string

libs/scenario_execution_gazebo/scenario_execution_gazebo/lib_osc/gazebo.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.robotics
 
 action actor_exists:

libs/scenario_execution_kubernetes/scenario_execution_kubernetes/lib_osc/kubernetes.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 
 enum kubernetes_element_type: [
   pod,

libs/scenario_execution_kubernetes/scenarios/test_kubernetes_create_delete.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.kubernetes
 import osc.helpers
 

libs/scenario_execution_kubernetes/scenarios/test_kubernetes_pod_exec.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.kubernetes
 import osc.helpers
 

libs/scenario_execution_moveit2/scenario_execution_moveit2/lib_osc/moveit2.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.robotics
 
 enum move_group_type: [
@@ -46,4 +46,4 @@ action arm.move_to_pose:
     max_velocity_scaling_factor: float = 0.1 # Scaling factors for optionally reducing the maximum joint velocities
     namespace_override: string = ''      # if set, it's used as namespace (instead of the associated actor's name)
     action_topic: string = 'move_action' # Name of action
-    success_on_acceptance: bool = false  # succeed on goal acceptance
+    success_on_acceptance: bool = false  # succeed on goal acceptance

libs/scenario_execution_nav2/scenario_execution_nav2/lib_osc/nav2.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.robotics
 
 action differential_drive_robot.init_nav2:
@@ -21,4 +21,4 @@ action differential_drive_robot.nav_to_pose:
     goal_pose: pose_3d                   # goal pose to navigate to
     namespace_override: string = ''      # if set, it's used as namespace (instead of the associated actor's name)
     action_topic: string = 'navigate_to_pose' # Name of action
-    success_on_acceptance: bool = false  # succeed on goal acceptance
+    success_on_acceptance: bool = false  # succeed on goal acceptance

libs/scenario_execution_pybullet/scenario_execution_pybullet/lib_osc/pybullet.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 import osc.robotics
 
 actor simulation_pybullet
@@ -20,4 +20,4 @@ action actor_pybullet.set_joint_motor_control:
 
 action actor_pybullet.distance_traveled:
     # Wait until a defined distance was traveled, based on simulation ground truth
-    distance: length                     # traveled distance at which the action succeeds.
+    distance: length                     # traveled distance at which the action succeeds.

libs/scenario_execution_x11/scenario_execution_x11/lib_osc/x11.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 
 action capture_screen:
     # Capture the screen content within a video

scenario_execution/README.md

@@ -4,8 +4,8 @@ The `scenario_execution` package is the core package of Scenario Execution for R
 
 Furthermore, it provides the following scenario execution libraries:
 
-- `standard.osc`: The OpenSCENARIO 2 standard library. It is slightly modified to be in sync with the feature set of scenario execution and imports `standard_base.osc`.
-- `standard_base.osc`: The base parts of the OpenSCENARIO 2 standard library such as units and basic structs. For convenience, numerical struct members are initialized with 0.
+- `standard.osc`: The OpenSCENARIO DSL standard library. It is slightly modified to be in sync with the feature set of scenario execution and imports `standard_base.osc`.
+- `standard_base.osc`: The base parts of the OpenSCENARIO DSL standard library such as units and basic structs. For convenience, numerical struct members are initialized with 0.
 - `robotics.osc`: robotic-specific specifications.
 - `helper.osc`: helper actions such as logging or running external processes.
 

scenario_execution/scenario_execution/get_osc_library.py

@@ -26,5 +26,5 @@ def get_standard_library():
     return 'scenario_execution', 'standard.osc'
 
 
-def get_standard_base_library():
-    return 'scenario_execution', 'standard_base.osc'
+def get_types_library():
+    return 'scenario_execution', 'types.osc'

scenario_execution/scenario_execution/lib_osc/helpers.osc

@@ -1,4 +1,4 @@
-import osc.standard.base
+import osc.types
 
 enum signal: [
     sighup = 1,

scenario_execution/scenario_execution/lib_osc/robotics.osc

@@ -1,3 +1,3 @@
-import osc.standard.base
+import osc.types
 
 actor robot inherits osc_actor

scenario_execution/scenario_execution/lib_osc/standard.osc

@@ -1,17 +1,35 @@
 ###########
-# Standard: OpenSCENARIO 2.0 domain model
-# Copyright: ASAM 2021-2022
-# Version:
-# Standard Publication Date:
-# Publication Reference Document:
-# Reference Document Date:
+# ASAM OpenSCENARIO(R) DSL V2.1.0
+#
+# (C) 2024 ASAM e.V.
+#
+# Domain model library
+# This file is informative. The normative definitions are published in the specification.
+#
+# Any use is limited to the scope described in the ASAM license terms.
+# See http://www.asam.net/license.html for further details.
+# In alteration to the regular license terms, ASAM allows unrestricted distribution of this standard.
+# paragraph 2 (1) of ASAM's regular license terms is therefore substituted by the following clause:
+# "The licensor grants everyone a basic, non-exclusive and unlimited license to use the standard ASAM OpenSCENARIO DSL".
 ###########
 
+###########
+# ATTENTION: This file is modified to be compatible with
+#            the feature set of scenario execution.
+# - default values added
+# - additional types added
+# - namespace disabled
+###########
+
+# TODO: enable once namespaces are supported
+# namespace stdtypes
+#
+# export *
+
 ########################
 # Scalar types and units
 ########################
 
-# tag::library-physical-length[]
 type length is SI(m: 1)
 unit nanometer  of length is SI(m: 1, factor: 0.000000001)
 unit nm         of length is SI(m: 1, factor: 0.000000001)
@@ -28,9 +46,7 @@ unit inch       of length is SI(m: 1, factor: 0.0254)
 unit feet       of length is SI(m: 1, factor: 0.3048)
 unit mile       of length is SI(m: 1, factor: 1609.344)
 unit mi         of length is SI(m: 1, factor: 1609.344)
-# end::library-physical-length[]
 
-# tag::library-physical-time[]
 type time is SI(s: 1)
 unit millisecond of time is SI(s: 1, factor: 0.001)
 unit ms          of time is SI(s: 1, factor: 0.001)
@@ -41,9 +57,7 @@ unit minute      of time is SI(s: 1, factor: 60)
 unit min         of time is SI(s: 1, factor: 60)
 unit hour        of time is SI(s: 1, factor: 3600)
 unit h           of time is SI(s: 1, factor: 3600)
-# end::library-physical-time[]
 
-# tag::library-physical-speed[]
 type speed is SI(m: 1, s: -1)
 unit meter_per_second    of speed is SI(m: 1, s: -1, factor: 1)
 unit mps                 of speed is SI(m: 1, s: -1, factor: 1)
@@ -55,9 +69,7 @@ unit mph                 of speed is SI(m: 1, s: -1, factor: 0.447038889)
 unit miph                of speed is SI(m: 1, s: -1, factor: 0.447038889)
 unit mmph                of speed is SI(m: 1, s: -1, factor: 0.000000278)
 unit millimeter_per_hour of speed is SI(m: 1, s: -1, factor: 0.000000278)
-# end::library-physical-speed[]
 
-# tag::library-physical-acceleration[]
 type acceleration is SI(m: 1, s: -2)
 unit meter_per_sec_sqr          of acceleration is SI(m: 1, s: -2, factor: 1)
 unit mpsps                      of acceleration is SI(m: 1, s: -2, factor: 1)
@@ -66,183 +78,132 @@ unit kilometer_per_hour_per_sec of acceleration is SI(m: 1, s: -2, factor: 0.277
 unit kmphps                     of acceleration is SI(m: 1, s: -2, factor: 0.277777778)
 unit mile_per_hour_per_sec      of acceleration is SI(m: 1, s: -2, factor: 0.447038889)
 unit miphps                     of acceleration is SI(m: 1, s: -2, factor: 0.447038889)
-# end::library-physical-acceleration[]
 
-# tag::library-physical-jerk[]
 type jerk is SI(m: 1, s: -3)
 unit meter_per_sec_cubed of jerk is SI(m: 1, s: -3, factor: 1)
 unit mpspsps             of jerk is SI(m: 1, s: -3, factor: 1)
 unit mile_per_sec_cubed  of jerk is SI(m: 1, s: -3, factor: 1609.344)
 unit mipspsps            of jerk is SI(m: 1, s: -3, factor: 1609.344)
-# end::library-physical-jerk[]
 
-# tag::library-physical-angle[]
 type angle is SI(rad: 1)
-unit degree of angle is SI(rad: 1, factor: 57.295779513)
-unit deg    of angle is SI(rad: 1, factor: 57.295779513)
+unit degree of angle is SI(rad: 1, factor: 0.01745329252)
+unit deg    of angle is SI(rad: 1, factor: 0.01745329252)
 unit radian of angle is SI(rad: 1, factor: 1)
 unit rad    of angle is SI(rad: 1, factor: 1)
-# end::library-physical-angle[]
 
-# tag::library-physical-angular_rate[]
 type angular_rate is SI(rad: 1, s: -1)
-unit degree_per_sec of angular_rate is SI(rad: 1, s: -1, factor: 57.295779513)
-unit degps          of angular_rate is SI(rad: 1, s: -1, factor: 57.295779513)
+unit degree_per_sec of angular_rate is SI(rad: 1, s: -1, factor: 0.01745329252)
+unit degps          of angular_rate is SI(rad: 1, s: -1, factor: 0.01745329252)
 unit radian_per_sec of angular_rate is SI(rad: 1, s: -1, factor: 1)
 unit radps             of angular_rate is SI(rad: 1, s: -1, factor: 1)
-# end::library-physical-angular_rate[]
 
-# tag::library-physical-angular_acceleration[]
 type angular_acceleration is SI(rad: 1, s: -2)
-unit degree_per_sec_sqr of angular_acceleration is SI(rad: 1, s: -2, factor: 57.295779513)
-unit degpsps            of angular_acceleration is SI(rad: 1, s: -2, factor: 57.295779513)
+unit degree_per_sec_sqr of angular_acceleration is SI(rad: 1, s: -2, factor: 0.01745329252)
+unit degpsps            of angular_acceleration is SI(rad: 1, s: -2, factor: 0.01745329252)
 unit radian_per_sec_sqr of angular_acceleration is SI(rad: 1, s: -2, factor: 1)
 unit radpsps            of angular_acceleration is SI(rad: 1, s: -2, factor: 1)
-# end::library-physical-angular_acceleration[]
 
-# tag::library-physical-mass[]
 type mass is SI(kg: 1)
 unit gram     of mass is SI(kg: 1, factor: 0.001)
 unit kilogram of mass is SI(kg: 1, factor: 1)
 unit kg       of mass is SI(kg: 1, factor: 1)
 unit ton      of mass is SI(kg: 1, factor: 1000)
 unit pound    of mass is SI(kg: 1, factor: 0.45359237)
 unit lb       of mass is SI(kg: 1, factor: 0.45359237)
-# end::library-physical-mass[]
 
-# tag::library-physical-temperature[]
 type temperature is SI(K: 1)
 unit K          of temperature is SI(K: 1, factor: 1)
 unit kelvin     of temperature is SI(K: 1, factor: 1)
 unit celsius    of temperature is SI(K: 1, factor: 1, offset: 273.15)
 unit C          of temperature is SI(K: 1, factor: 1, offset: 273.15)
 unit fahrenheit of temperature is SI(K: 1, factor: 0.555555556, offset: 255.372222222)
 unit F          of temperature is SI(K: 1, factor: 0.555555556, offset: 255.372222222)
-# end::library-physical-temperature[]
 
-# tag::library-physical-pressure[]
 type pressure is SI(kg: 1, m: -1, s: -2)
 unit newton_per_meter_sqr of pressure is SI(kg: 1, m: -1, s: -2, factor: 1)
 unit Pa                   of pressure is SI(kg: 1, m: -1, s: -2, factor: 1)
 unit pascal               of pressure is SI(kg: 1, m: -1, s: -2, factor: 1)
 unit hPa                  of pressure is SI(kg: 1, m: -1, s: -2, factor: 100)
 unit atm                  of pressure is SI(kg: 1, m: -1, s: -2, factor: 101325)
-# end::library-physical-pressure[]
 
-# tag::library-physical-luminous_intensity[]
 type luminous_intensity is SI(cd: 1)
 unit cd      of luminous_intensity is SI(cd: 1, factor: 1)
 unit candela of luminous_intensity is SI(cd: 1, factor: 1)
-# end::library-physical-luminous_intensity[]
 
-# tag::library-physical-luminous_flux[]
 type luminous_flux is SI(cd: 1, rad: 2)
 unit lm    of luminous_flux is SI(cd: 1, rad: 2, factor: 1)
 unit lumen of luminous_flux is SI(cd: 1, rad: 2, factor: 1)
-# end::library-physical-luminous_flux[]
 
-# tag::library-physical-illuminance[]
 type illuminance is SI(cd: 1, rad: 2, m: -2)
 unit lx  of illuminance is SI(cd: 1, rad: 2, m: -2, factor: 1)
 unit lux of illuminance is SI(cd: 1, rad: 2, m: -2, factor: 1)
-# end::library-physical-illuminance[]
 
-# tag::library-physical-electrical_current[]
 type electrical_current is SI(A: 1)
 unit ampere of electrical_current is SI(A: 1, factor: 1)
 unit A      of electrical_current is SI(A: 1, factor: 1)
-# end::library-physical-electrical_current[]
 
-# tag::library-physical-amount_of_substance[]
 type amount_of_substance is SI(mol: 1)
 unit mole of amount_of_substance is SI(mol: 1, factor: 1)
 unit mol  of amount_of_substance is SI(mol: 1, factor: 1)
-# end::library-physical-amount_of_substance[]
 
 ###########
 # Structs
 ###########
 
-# tag::library-position_3d[]
-struct position_3d:
+struct position
+
+struct position_3d inherits position:
     x: length = 0.0m
     y: length = 0.0m
     z: length = 0.0m
-    #def norm() -> length is undefined
-# end::library-position_3d[]
+    # def norm() -> length is undefined
 
-# tag::library-celestial_position_2d[]
-struct celestial_position_2d:
+struct celestial_position_2d inherits position:
     azimuth: angle = 0.0rad
     elevation: angle = 0.0rad
-# end::library-celestial_position_2d[]
 
-# tag::library-geodetic_position_2d[]
-struct geodetic_position_2d:
+struct geodetic_position_2d inherits position:
     latitude: angle = 0.0rad
     longitude: angle = 0.0rad
-# end::library-geodetic_position_2d[]
 
-# tag::library-orientation_3d[]
 struct orientation_3d:
     roll: angle = 0.0rad
     pitch: angle = 0.0rad
     yaw: angle = 0.0rad
-# end::library-orientation_3d[]
 
-# tag::library-pose_3d[]
 struct pose_3d:
     position: position_3d
     orientation: orientation_3d
-# end::library-pose_3d[]
 
-# tag::library-translational_velocity_3d[]
 struct translational_velocity_3d:
     x: speed = 0.0mps
     y: speed = 0.0mps
     z: speed = 0.0mps
-#    def norm() -> speed is undefined
-# end::library-translational_velocity_3d[]
+    # def norm() -> speed is undefined
 
-# tag::library-orientation_rate_3d[]
 struct orientation_rate_3d:
     roll: angular_rate = 0.0radps
     pitch: angular_rate = 0.0radps
     yaw: angular_rate = 0.0radps
-# end::library-orientation_rate_3d[]
 
-# tag::library-velocity_6d[]
 struct velocity_6d:
     translational: translational_velocity_3d
     angular: orientation_rate_3d
-# end::library-velocity_6d[]
 
-# tag::library-translational_acceleration_3d[]
 struct translational_acceleration_3d:
     x: acceleration = 0.0mpsps
     y: acceleration = 0.0mpsps
     z: acceleration = 0.0mpsps
-#    def norm() -> acceleration is undefined
-# end::library-translational_acceleration_3d[]
+    # def norm() -> acceleration is undefined
 
-# tag::library-orientation_acceleration_3d[]
 struct orientation_acceleration_3d:
     roll: angular_acceleration = 0.0radpsps
     pitch: angular_acceleration = 0.0radpsps
     yaw: angular_acceleration = 0.0radpsps
-# end::library-orientation_acceleration_3d[]
 
-# tag::library-acceleration_6d[]
 struct acceleration_6d:
     translational: translational_acceleration_3d
     angular: orientation_acceleration_3d
-# end::library-acceleration_6d[]
-
-struct bounding_box:
-    center: position_3d               # Mandatory: Represents the geometrical center of the bounding box expressed in coordinates that refer to the coordinate system of the physical_object
-    length: length                    # Mandatory: Dimension in x-direction of the coordinate system of the physical_object
-    width: length                     # Mandatory: Dimension in y-direction of the coordinate system of the physical_object
-    height: length                    # Mandatory: Dimension in z-direction of the coordinate system of the physical_object
 
 # ###########
 # # Actor

scenario_execution/scenario_execution/lib_osc/standard_base.osc renamed to scenario_execution/scenario_execution/lib_osc/types.osc

@@ -78,7 +78,7 @@
         'scenario_execution.osc_libraries': [
             'helpers = scenario_execution.get_osc_library:get_helpers_library',
             'standard = scenario_execution.get_osc_library:get_standard_library',
-            'standard.base = scenario_execution.get_osc_library:get_standard_base_library',
+            'types = scenario_execution.get_osc_library:get_types_library',
             'robotics = scenario_execution.get_osc_library:get_robotics_library',
         ]
     },

scenario_execution/setup.py

@@ -116,7 +116,7 @@ def test_cast(self):
 
     def test_sample(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 
 scenario simple_drive:    
     environment: environment

scenario_execution/test/test_osc2_parser_not_supported.py

@@ -43,6 +43,6 @@ def test_standard_osc(self):
 
     def test_standard_common_osc(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 """
         model = self.parse(scenario_content)

scenario_execution/test/test_osc2_standard_osc.py

@@ -45,7 +45,7 @@ def execute(self, scenario_content):
 
     def test_failure(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 scenario test_run_process:
@@ -59,7 +59,7 @@ def test_failure(self):
 
     def test_success(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 scenario test_run_process:
@@ -73,7 +73,7 @@ def test_success(self):
 
     def test_multi_element_command(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 scenario test_run_process:
@@ -86,7 +86,7 @@ def test_multi_element_command(self):
 
     def test_wait_for_shutdown_false(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 scenario test_run_process:
@@ -108,7 +108,7 @@ def test_wait_for_shutdown_false(self):
 
     def test_signal_parsing(self):
         scenario_content = """
-import osc.standard.base
+import osc.types
 import osc.helpers
 
 scenario test_run_process: