feat: scenario-centric migration for Town10HD_Opt

- Updated braking, cutin, and obstacle scenarios with class-held constants
- Added deterministic ego_spawn_point (Showcase P2) for all scenarios
- Added 0.5m Z-lift to NPC spawns to prevent ground clipping in Town10
- Refactored showcase.py to use the new standardized ego_spawn_point property

scenarios/braking.py

@@ -15,7 +15,6 @@ import os
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
 import carla
-import config
 from scenarios.base import ScenarioBase
 
 
@@ -29,9 +28,9 @@ class BrakingScenario(ScenarioBase):
     Frame BRAKE_FRAME+       : Lead vehicle applies emergency stop.
     """
 
-    LEAD_DISTANCE_M = getattr(config, "SCENARIO_LEAD_DISTANCE", 25)
-    BRAKE_FRAME     = getattr(config, "SCENARIO_BRAKE_FRAME",   80)
-    CRUISE_SPEED    = 30   # km/h, set via TM percentage of speed limit
+    LEAD_DISTANCE_M = 25      # metres ahead of ego for lead vehicle
+    BRAKE_FRAME     = 80      # frame on which the lead vehicle emergency-brakes
+    CRUISE_SPEED    = 30      # km/h, set via TM percentage of speed limit
 
     def __init__(self):
         super().__init__()
@@ -46,6 +45,11 @@ class BrakingScenario(ScenarioBase):
     def name(self) -> str:
         return "braking"
 
+    @property
+    def ego_spawn_point(self):
+        # Using the known-working Town10 intersection point
+        return carla.Transform(carla.Location(x=107.412, y=45.309, z=0.5), carla.Rotation(yaw=-87.7))
+
     def setup(self, world, ego_vehicle, traffic_manager) -> None:
         self._world = world
         self._ego   = ego_vehicle
@@ -67,11 +71,15 @@ class BrakingScenario(ScenarioBase):
                 "Ensure ego is on a driveable lane."
             )
 
-        self._lead_vehicle = world.try_spawn_actor(lead_bp, spawn_wp.transform)
+        # Lift actor slightly to avoid ground clipping
+        spawn_transform = spawn_wp.transform
+        spawn_transform.location.z += 0.5
+
+        self._lead_vehicle = world.try_spawn_actor(lead_bp, spawn_transform)
         if self._lead_vehicle is None:
             raise RuntimeError(
                 "[BrakingScenario] Failed to spawn lead vehicle at waypoint "
-                f"{spawn_wp.transform.location}. Spot may be occupied."
+                f"{spawn_transform.location}. Spot may be occupied."
             )
 
         self._actors.append(self._lead_vehicle)
@@ -90,7 +98,7 @@ class BrakingScenario(ScenarioBase):
         )
 
     def step(self, frame_count: int, ego_vehicle, pbar=None) -> None:
-        if frame == self.BRAKE_FRAME and not self._braked:
+        if frame_count == self.BRAKE_FRAME and not self._braked:
             if self._lead_vehicle and self._lead_vehicle.is_alive:
                 # Disengage TM autopilot and apply full brake
                 self._lead_vehicle.set_autopilot(False)
@@ -100,7 +108,7 @@ class BrakingScenario(ScenarioBase):
                 control.hand_brake = True
                 self._lead_vehicle.apply_control(control)
                 self._braked = True
-                print(f"[{self.name}] EMERGENCY BRAKE applied at frame {frame}.")
+                print(f"[{self.name}] EMERGENCY BRAKE applied at frame {frame_count}.")
 
     def cleanup(self) -> None:
         self._destroy_actors()

scenarios/cutin.py

@@ -13,7 +13,6 @@ import os
 
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
-import config
 from scenarios.base import ScenarioBase
 
 
@@ -27,9 +26,9 @@ class CutInScenario(ScenarioBase):
     Frame CUTIN_FRAME+       : TM forced lane change into ego lane.
     """
 
-    NPC_DISTANCE_M  = getattr(config, "SCENARIO_CUTIN_DISTANCE", 15)
-    CUTIN_FRAME     = getattr(config, "SCENARIO_CUTIN_FRAME",    60)
-    LANE_OFFSET     = -1   # -1 = left lane, 1 = right lane
+    NPC_DISTANCE_M  = 15      # metres ahead of ego for NPC in adjacent lane
+    CUTIN_FRAME     = 60      # frame on which NPC is forced to change lane
+    LANE_OFFSET     = -1      # -1 = left lane, 1 = right lane
 
     def __init__(self):
         super().__init__()
@@ -44,6 +43,12 @@ class CutInScenario(ScenarioBase):
     def name(self) -> str:
         return "cutin"
 
+    @property
+    def ego_spawn_point(self):
+        # Working Town10 intersection point (Southbound)
+        import carla
+        return carla.Transform(carla.Location(x=107.412, y=45.309, z=0.5), carla.Rotation(yaw=-87.7))
+
     def setup(self, world, ego_vehicle, traffic_manager) -> None:
         self._world = world
         self._ego   = ego_vehicle
@@ -66,11 +71,15 @@ class CutInScenario(ScenarioBase):
                 "Try a map with multiple lanes."
             )
 
-        self._npc = world.try_spawn_actor(npc_bp, spawn_wp.transform)
+        # Lift actor slightly to avoid ground clipping
+        spawn_transform = spawn_wp.transform
+        spawn_transform.location.z += 0.5
+
+        self._npc = world.try_spawn_actor(npc_bp, spawn_transform)
         if self._npc is None:
             raise RuntimeError(
                 "[CutInScenario] Failed to spawn NPC at "
-                f"{spawn_wp.transform.location}. Spot may be occupied."
+                f"{spawn_transform.location}. Spot may be occupied."
             )
 
         self._actors.append(self._npc)
@@ -85,13 +94,13 @@ class CutInScenario(ScenarioBase):
         )
 
     def step(self, frame_count: int, ego_vehicle, pbar=None) -> None:
-        if frame == self.CUTIN_FRAME and not self._cut_triggered:
+        if frame_count == self.CUTIN_FRAME and not self._cut_triggered:
             if self._npc and self._npc.is_alive:
                 # force_lane_change: True = left, False = right
                 force_left = (self.LANE_OFFSET < 0)
                 self._tm.force_lane_change(self._npc, force_left)
                 self._cut_triggered = True
-                print(f"[{self.name}] Lane change triggered at frame {frame}.")
+                print(f"[{self.name}] Lane change triggered at frame {frame_count}.")
 
     def cleanup(self) -> None:
         self._destroy_actors()

scenarios/obstacle.py

@@ -13,7 +13,6 @@ import os
 
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
-import config
 from scenarios.base import ScenarioBase
 
 
@@ -25,11 +24,9 @@ class ObstacleScenario(ScenarioBase):
     autopilot and must navigate around or brake for the obstacle.
     """
 
-    OBSTACLE_DISTANCE_M = getattr(config, "SCENARIO_OBSTACLE_DISTANCE", 30)
+    OBSTACLE_DISTANCE_M = 30  # metres ahead of ego for static prop
     # CARLA blueprint name for the static prop
-    PROP_BLUEPRINT      = getattr(
-        config, "SCENARIO_OBSTACLE_PROP", "static.prop.trafficcone01"
-    )
+    PROP_BLUEPRINT      = "static.prop.trafficcone01"
 
     def __init__(self):
         super().__init__()
@@ -43,6 +40,12 @@ class ObstacleScenario(ScenarioBase):
     def name(self) -> str:
         return "obstacle"
 
+    @property
+    def ego_spawn_point(self):
+        # Working Town10 intersection point (Southbound)
+        import carla
+        return carla.Transform(carla.Location(x=107.412, y=45.309, z=0.5), carla.Rotation(yaw=-87.7))
+
     def setup(self, world, ego_vehicle, traffic_manager) -> None:
         self._world = world
         self._ego   = ego_vehicle

scenarios/showcase.py

@@ -16,6 +16,11 @@ class ShowcaseScenario(ScenarioBase):
     def name(self):
         return "showcase"
 
+    @property
+    def ego_spawn_point(self):
+        # Working Town10 intersection point (Southbound)
+        return carla.Transform(carla.Location(x=107.412, y=45.309, z=0.5), carla.Rotation(yaw=-87.7))
+
     def setup(self, world, ego_vehicle, traffic_manager) -> None:
         """
         Step 11: Deep Intersection Guidance for Ego.
@@ -38,8 +43,7 @@ class ShowcaseScenario(ScenarioBase):
         self.EGO_MID = carla.Location(x=107.412, y=32.0, z=0.5)
         self._ego_reached_mid = False
 
-        # 1. Setup Ego
-        self._ego.set_transform(self.P2)
+        # 1. Setup Ego (Already spawned at ego_spawn_point by main.py)
         self._ego.set_autopilot(False)
 
         # 2. Spawn NPC