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3d driving#382

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ethan10mak wants to merge 123 commits intomainfrom
3d-driving
Open

3d driving#382
ethan10mak wants to merge 123 commits intomainfrom
3d-driving

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@ethan10mak
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@ethan10mak ethan10mak commented Sep 5, 2025 •
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Description

This PR adds support for 3D mode.

  • Elevation parsed from Open Drive files
  • Added mesh generation through the Trimesh library
  • Tested driving simulations through CARLA
  • Updated older test cases to generate in 2D mode

Issue Link

N/A

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

ethan10mak added 30 commits April 16, 2025 15:41
@ethan10mak
Update xodr_parser.py
ecc2593 
Made comments to file
@ethan10mak
Added parse_elevation_profile code
a81d32e
@ethan10mak
elevationProfile and lateralProfile parsing implementation
c725df9 
Started writing code to parse elevationProfile and lateralProfile elements.
@ethan10mak
Changed cur_p to have three dimensions
440190f
@ethan10mak
Formatted xodr_parser.py
72a31f2
@ethan10mak
Revert "Formatted xodr_parser.py"
b97d800 
This reverts commit 72a31f2.
@ethan10mak
Updated formatting of xodr_parser.py
2726f2a
@ethan10mak
Added get_super_elevation_at function
565534f
@ethan10mak
Update xodr_parser.py
926a04d
@ethan10mak
Updated parser, regions, and geometry to account for elevation
fb9be18
@ethan10mak
Updating xodr_parser
4110851 
Trying to take 3 dimensional vectors and display them, currently displays visual window, but doesn't show anything
@ethan10mak
Modifying xodr_parser to accept 3D and create trimeshes
c800655 
Doesn't quite work yet, but I have differentiated functions such as calc_geometry_for_type() to calculate different things for 2D and 3D
@ethan10mak
Updating calculate_geometry and toScenicRoad to 3D
d3def9b 
Doesn't work yet, currently facing an error where PolylineRegion and PathRegion are not compatible.
@ethan10mak
Visualized working meshes
3e1e2ae
@ethan10mak
Updated NetworkElement to Region
d0c5bcb
@ethan10mak
3D meshes outputs properly
6e8fa25
@ethan10mak
Updated roads.py
ddb093b
@ethan10mak
Updated findPointIn Function
727cca7
@ethan10mak
updated global param use2DMap
65206ae
@ethan10mak
Updating use2DMap param
203df0a
@ethan10mak
Updated abstract function and orientation
c62dbf1
@ethan10mak
Updated abstract classes
affc938
@ethan10mak
Driving Orientation Fixed and 2D Compatibility
80261cc
@ethan10mak
Updated 2D Compatibility
d0361d3
@ethan10mak
Updated documentation
91ab3a3
@ethan10mak
Added __getitem__ to PathRegion
54a9695
@ethan10mak
Updated behaviors.py for 3d concatenateCenterlines
8b725c8
@ethan10mak
Updated xodr_parser.py
1a883ed 
Made sure that all PathRegions created are created through points
@ethan10mak
Updated behavior.scenic
630e41e 
Updated the FollowLaneBehavior function to deal with 2d and 3d points
@ethan10mak
Added signedDistanceTo() to PathRegion
5b2db24
ethan10mak and others added 26 commits October 23, 2025 11:09
@ethan10mak
Merge branch '3d-driving' of https://github.com/BerkeleyLearnVerify/S…
494eece 
…cenic into 3d-driving
@ethan10mak
Updated test_driving.py
c47a2dd 
Made mode2D=False by default
@ethan10mak
Update model.scenic
9e779a4
@ethan10mak
Update test_basic.py
440c883
@ethan10mak
Update test_basic.py
2bbd534
@ethan10mak
Formatted files
868e10a
@ethan10mak
Updated carla tests with 3D tests
06e9da5 
(WARNING): The CARLA simulator isn't working at the time, so I have not been able to verify this code runs properly.
@ethan10mak
Formatted files
d3a9d09
@ethan10mak
Update 3D driving CARLA tests
e343921
@ethan10mak
Changed test_brake back to Town01
30d26d9
@lola831
Merge main into 3d-driving-update
d420b84
@lola831
Update tests for 2D/3D map options caching
ae48399
@lola831
carla: apply vehicle/walker spawn Z offset regardless of snapToGround
9cbc2b3
@lola831
bump .snet format version
bbee643
@lola831
carla: use use2DMap for snapToGroundDefault
72020e4
@lola831
Fix NetworkElement post-init ordering so default orientation is set b…
4f349ce 
…efore Region initialization
@lola831
Fix default vehicle/pedestrian placement in 3D mode
2bf58f7
@lola831
Add default pedestrian height in driving domain
b8cd4eb
@lola831
carla: use scenicToCarlaTransform for spawning and placement actions …
8bc7960 
…(CarlaActor.setPosition and SetTransformAction)
@lola831
Revert NetworkElement __attrs_post_init__ ordering change. Update dri…
e1b5f18 
…ving model centerOnSurface to derive surface orientation from element at contact point
@lola831
Deprecate scenicToCarlaLocation; keep wrapper for backward compatibility
7b150a2
@lola831
Adjust default pedestrian height
cfb1c9e
@lola831
fix CARLA setPosition docstring
c330932
@lola831
Clean up driving test file
4839fbd
@lola831
stabilize CARLA throttle test
fb91b12
@lola831
Use separate basic scenario for 3D CARLA tests
d1c9fc3
@lola831 lola831 requested a review from Eric-Vin February 25, 2026 17:47
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@dfremont dfremont dfremont left review comments

@Eric-Vin Eric-Vin Awaiting requested review from Eric-Vin

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3 participants

@ethan10mak @dfremont @lola831