roadrunner-scenario-authoring

What it does

Programmatically create RoadRunner scenarios from MATLAB: actors, routes, phase logic, and validation — all via roadrunnerAPI.

How it works

Follows a step-by-step workflow:

• Ensure an active RoadRunner session exists and set up MATLAB path to the skill scripts.
• Initialize a scenario with openScene, newScenario, and access API objects (roadrunnerAPI, Scenario, PhaseLogic, Project).
• Survey the scene to determine valid actor placement using helperSceneAwareness or HD Map exports.
• Add actors either in batch (recommended for multiple actors) or manually, creating assets and anchoring positions.
• Position actors with various anchoring options (scene anchors, autoAnchor, or relative anchoring to another actor).
• Create routes when needed to enforce path-following behavior for actors that require it.
• Build and modify phase logic: initialize phases, adjust actions (e.g., ChangeSpeedAction, ChangeLaneAction), and set end conditions on phases (e.g., LongitudinalDistanceToActorCondition).
• Validate the scenario with validate(rrs) and provide a summary of created elements without simulating unless requested.
• The workflow emphasizes not simulating by default and ensuring each actor has proper routes and anchoring as required.

When to use it

• When adding actors (vehicles, pedestrians, objects) to a RoadRunner scenario
• When creating routes and waypoints for actors
• When building scenario logic: phases, conditions, actions
• When authoring patterns like cut-in, pedestrian crossing, lead-follow, or emergency brake
• When placing actors on roads using anchor-based or HD Map positioning
• When validating scenario structure before simulation

What it can touch

Processes require the roadrunnerAPI and related MATLAB-based helpers documented in the skill. It uses MATLAB scripts and functions such as openScene, newScenario, ro RoadrunnerAPI, helperSceneAwareness, helperPlaceActors, getAnchors, findSceneAnchor, autoAnchor, addActor, InitialPoint, Route, setEndCondition, and validate.

Caveats

• Always set an Actor on ActorActionPhase and condition objects.
• Do not duplicate action types within a single phase.
• Character actors require routes; otherwise validation fails.
• Use proper anchoring proximity (autoAnchor requires within 5m of road surface).
• End conditions must be associated with phases and are not to be duplicated; use setEndCondition appropriately.
• Do not simulate unless explicitly requested by the user.
• Do not guess ambiguous prompts; present decomposition and physics analysis for confirmation before executing code.
• Lane-change actions require lane-following mode; routes should not be added to those actors.
• Route points should use autoAnchor; do not combine anchorToPoint with ForwardOffset on route points.
• For route creation, vehicles routes should set seg.Freeform = false to follow road geometry; do not disable freeform for pedestrians.
• Collision or timing outcomes are not claimed from the code alone; only simulation yields ground truth.