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A rollout writes what happened as geometry rather than as pixels: one gzipped JSONL frame per tick with the pre-step scene and the map-frame plan, plus one map asset per map shared by every case on it. It imports no matplotlib and invokes no encoder, so a run that draws nothing still reports what happened. Warm-up ticks carry null metrics: nothing scored them.
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What
A
scenario_simrollout can report what happened as geometry instead of as pixels.Per tick it appends one frame to
scene_trace.jsonl.gz: the pre-step scene and the map-frameplan the renderer is handed, with clearance and collision attached once the ego's history is warm
(warm-up ticks carry nulls, because nothing scored them). Per map it writes one asset, shared by
every case on that map, into the run directory rather than the case directory.
It imports no matplotlib and invokes no encoder, so a run that draws nothing still reports what
happened.
RolloutConfig.write_scene_tracegates it.Why
PNG or mp4 output answers "what did this look like" but not "where was the ego, what was around it,
and what did it plan". The trace is small enough to keep for a whole suite and is what a browser
replay reads.
Note for review
write_scene_tracecurrently defaults toTrue, so every run starts writingscene_trace.jsonl.gzand a map asset. Happy to flip it to opt-in if that default is not wanted.Tests
tests/test_scene_trace.py(new): the frame the writer emits, the warm-up nulls, and the mapasset's placement and reuse.
scenario_generation/tests/: 257 passed / 15 skipped / 2 failed. The two failures aretest_map_cache.py, which is red ontier4-mainitself and is fixed by #48.