Scenic with 0.10.0

[tbubeck]

Hi there, I just tried running carlaChallenge2.scenic in Town10HD_Opt with the Carla UE5 version (Python 3.10.18). The scenario starts running, connects to Carla, loads the map and then crashes and gives an error "TypeError: points() takes from 2 to 3 positional arguments but 1 were given". I essentially just copied the example scenario, only modifying the map name and the path to the .xodr file. Has anyone else had this issue or knows how to solve it? Thx a lot in advance.

Here is the full log:

scenic carlaChallenge2.scenic --simulate --2d -b
Beginning scenario construction...
  Loading cached version of road network...
  Loaded cached network in 0.11 seconds.
  Pruning scenario...
  Pruned scenario in 0 seconds.
Scenario constructed in 1.04 seconds.
  Connecting to CARLA on port 2000
  Map loaded in simulator.
Traceback (most recent call last):
  File "C:\Users\tobib\anaconda3\envs\carla\lib\runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "C:\Users\tobib\anaconda3\envs\carla\lib\runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "C:\Users\tobib\anaconda3\envs\carla\Scripts\scenic.exe\__main__.py", line 2, in <module>
    from scenic.__main__ import dummy
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\__main__.py", line 272, in <module>
    scene, _ = generateScene()
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\__main__.py", line 214, in generateScene
    scene, iterations = errors.callBeginningScenicTrace(
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\errors.py", line 282, in callBeginningScenicTrace
    return func()
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\__main__.py", line 215, in <lambda>
    lambda: scenario.generate(maxIterations=maxIterations, verbosity=args.verbosity)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\scenarios.py", line 403, in generate
    scenes, iterations = self.generateBatch(1, maxIterations, verbosity, feedback)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\scenarios.py", line 433, in generateBatch
    scene, iterations = self._generateInner(remainingIts, verbosity, feedback)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\scenarios.py", line 468, in _generateInner
    sample = Samplable.sampleAll(self.dependencies)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 140, in sampleAll
    subsamples[q] = q.sample(subsamples) if needsSampling(q) else q
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 149, in sample
    subsamples[child] = child.sample(subsamples)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 149, in sample
    subsamples[child] = child.sample(subsamples)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 150, in sample
    return self._conditioned.sampleGiven(subsamples)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 806, in sampleGiven
    result = op(*rest, **kwargs)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 618, in helper
    return method(self, *args, **kwargs)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\vectors.py", line 693, in __getitem__
    val = self.value(pos)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\regions.py", line 3485, in defaultOrientation
    start, end = self.nearestSegmentTo(point)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\distributions.py", line 618, in helper
    return method(self, *args, **kwargs)
  File "C:\Users\tobib\anaconda3\envs\carla\lib\site-packages\scenic\core\regions.py", line 3594, in nearestSegmentTo
    dist = self.lineString.project(makeShapelyPoint(point))
TypeError: points() takes from 2 to 3 positional arguments but 1 were given

An here is the code:

""" Scenario Description
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)
param map = localPath('C:/CarlaUE5/Unreal/CarlaUnreal/Content/Carla/Maps/OpenDrive/Town10HD_Opt.xodr')
param carla_map = 'Town10HD_Opt'
model scenic.simulators.carla.model

## CONSTANTS
EGO_MODEL = "vehicle.lincoln.mkz"
EGO_SPEED = 10
EGO_BRAKING_THRESHOLD = 12

LEAD_CAR_SPEED = 10
LEADCAR_BRAKING_THRESHOLD = 10

BRAKE_ACTION = 1.0

## DEFINING BEHAVIORS
# EGO BEHAVIOR: Follow lane, and brake after passing a threshold distance to the leading car
behavior EgoBehavior(speed=10):
    try:
        do FollowLaneBehavior(speed)

    interrupt when withinDistanceToAnyCars(self, EGO_BRAKING_THRESHOLD):
        take SetBrakeAction(BRAKE_ACTION)

# LEAD CAR BEHAVIOR: Follow lane, and brake after passing a threshold distance to obstacle
behavior LeadingCarBehavior(speed=10):
    try: 
        do FollowLaneBehavior(speed)

    interrupt when withinDistanceToAnyObjs(self, LEADCAR_BRAKING_THRESHOLD):
        take SetBrakeAction(BRAKE_ACTION)

## DEFINING SPATIAL RELATIONS
# Please refer to scenic/domains/driving/roads.py how to access detailed road infrastructure
# 'network' is the 'class Network' object in roads.py

# make sure to put '*' to uniformly randomly select from all elements of the list, 'lanes'
lane = Uniform(*network.lanes)

obstacle = new Trash on lane.centerline

leadCar = new Car following roadDirection from obstacle for Range(-50, -30),
        with behavior LeadingCarBehavior(LEAD_CAR_SPEED)

ego = new Car following roadDirection from leadCar for Range(-15, -10),
        with blueprint EGO_MODEL,
        with behavior EgoBehavior(EGO_SPEED)

require (distance to intersection) > 80
terminate when ego.speed < 0.1 and (distance to obstacle) < 30

[tbubeck]

So, I dug through the scenic code and found that in core/geometry.py they use makeShapelyPoint = shapely.lib.points to make a shapely point. I changed it to makeShapelyPoint = shapely.Point and it works fine now. That being said, I'm not particularly happy that I had to meddle with the scenic code to make it work. Is this just a me problem and for everyone else it works fine or is a fix required here?