From 1b94beed0f1cbd2505d3ed6caa225f0781514913 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 11 Jan 2026 10:26:04 +0000
Subject: [PATCH 001/133] removed redundant osc2 files

---
 srunner/scenarios/osc2_scenario.py | 1447 ----------------------------
 1 file changed, 1447 deletions(-)
 delete mode 100644 srunner/scenarios/osc2_scenario.py

diff --git a/srunner/scenarios/osc2_scenario.py b/srunner/scenarios/osc2_scenario.py
deleted file mode 100644
index f36dc6a..0000000
--- a/srunner/scenarios/osc2_scenario.py
+++ /dev/null
@@ -1,1447 +0,0 @@
-from __future__ import print_function
-
-import copy
-import math
-import operator
-import random
-import re
-import sys
-from typing import List, Tuple
-
-import py_trees
-from agents.navigation.global_route_planner import GlobalRoutePlanner
-
-from srunner.osc2.ast_manager import ast_node
-from srunner.osc2.ast_manager.ast_vistor import ASTVisitor
-
-# OSC2
-from srunner.osc2.symbol_manager.method_symbol import MethodSymbol
-from srunner.osc2.symbol_manager.parameter_symbol import ParameterSymbol
-from srunner.osc2.utils.log_manager import (LOG_INFO, LOG_ERROR, LOG_WARNING)
-from srunner.osc2.utils.relational_operator import RelationalOperator
-from srunner.osc2_dm.physical_types import Physical, Range
-
-# from sqlalchemy import true
-# from srunner.osc2_stdlib import event, variables
-from srunner.osc2_stdlib.modifier import (
-    AccelerationModifier,
-    ChangeLaneModifier,
-    ChangeSpeedModifier,
-    LaneModifier,
-    PositionModifier,
-    SpeedModifier,
-)
-
-# OSC2
-from srunner.scenarioconfigs.osc2_scenario_configuration import (
-    OSC2ScenarioConfiguration,
-)
-from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
-from srunner.scenariomanager.scenarioatomics.atomic_behaviors import (
-    ActorTransformSetter,
-    ChangeTargetSpeed,
-    LaneChange,
-    UniformAcceleration,
-    WaypointFollower,
-    calculate_distance,
-)
-from srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest
-from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (
-    IfTriggerer,
-    TimeOfWaitComparison,
-)
-from srunner.scenariomanager.timer import TimeOut
-from srunner.scenarios.basic_scenario import BasicScenario
-from srunner.tools.openscenario_parser import oneshot_with_check
-from srunner.tools.osc2_helper import OSC2Helper
-
-
-def para_type_str_sequence(config, arguments, line, column, node):
-    retrieval_name = ""
-    if isinstance(arguments, List):
-        for arg in arguments:
-            if isinstance(arg, Tuple):
-                if isinstance(arg[1], int):
-                    retrieval_name = retrieval_name + "#int"
-                elif isinstance(arg[1], float):
-                    retrieval_name = retrieval_name + "#float"
-                elif isinstance(arg[1], str):
-                    retrieval_name = retrieval_name + "#str"
-                elif isinstance(arg[1], bool):
-                    retrieval_name = retrieval_name + "#bool"
-                elif isinstance(arg[1], Physical):
-                    physical_type_name = OSC2Helper.find_physical_type(
-                        config.physical_dict, arg[1].unit.physical.si_base_exponent
-                    )
-
-                    if physical_type_name is None:
-                        pass
-                    else:
-                        physical_type = (
-                            node.get_scope().resolve(physical_type_name).name
-                        )
-                        retrieval_name += "#" + physical_type
-                else:
-                    pass
-            elif isinstance(arg, str):
-                retrieval_name = retrieval_name + arg.split(".", 1)[-1]
-            else:
-                pass
-    elif isinstance(arguments, Tuple):
-        if isinstance(arguments[1], int):
-            retrieval_name = retrieval_name + "#int"
-        elif isinstance(arguments[1], float):
-            retrieval_name = retrieval_name + "#float"
-        elif isinstance(arguments[1], str):
-            retrieval_name = retrieval_name + "#str"
-        elif isinstance(arguments[1], bool):
-            retrieval_name = retrieval_name + "#bool"
-        elif isinstance(arguments[1], Physical):
-            physical_type_name = OSC2Helper.find_physical_type(
-                config.physical_dict, arguments[1].unit.physical.si_base_exponent
-            )
-
-            if physical_type_name is None:
-                pass
-            else:
-                physical_type = node.get_scope().resolve(physical_type_name).name
-                retrieval_name += "#" + physical_type
-        else:
-            pass
-    elif isinstance(arguments, int):
-        retrieval_name = retrieval_name + "#int"
-    elif isinstance(arguments, float):
-        retrieval_name = retrieval_name + "#float"
-    elif isinstance(arguments, str):
-        retrieval_name = retrieval_name + "#str"
-    elif isinstance(arguments, bool):
-        retrieval_name = retrieval_name + "#bool"
-    elif isinstance(arguments, Physical):
-        physical_type_name = OSC2Helper.find_physical_type(
-            config.physical_dict, arguments.unit.physical.si_base_exponent
-        )
-
-        if physical_type_name is None:
-            pass
-        else:
-            physical_type = node.get_scope().resolve(physical_type_name).name
-            retrieval_name += "#" + physical_type
-    else:
-        pass
-    return retrieval_name
-
-
-def process_speed_modifier(
-    config, modifiers, duration: float, all_duration: float, father_tree
-):
-    if not modifiers:
-        return
-
-    for modifier in modifiers:
-        actor_name = modifier.get_actor_name()
-
-        if isinstance(modifier, SpeedModifier):
-            # en_value_mps() The speed unit in Carla is m/s, so the default conversion unit is m/s
-            target_speed = modifier.get_speed().gen_physical_value()
-            # target_speed = float(modifier.get_speed())*0.27777778
-            actor = CarlaDataProvider.get_actor_by_name(actor_name)
-            car_driving = WaypointFollower(actor, target_speed)
-            # car_driving.set_duration(duration)
-
-            father_tree.add_child(car_driving)
-
-            car_config = config.get_car_config(actor_name)
-            car_config.set_arg({"target_speed": target_speed})
-            LOG_WARNING(
-                f"{actor_name} car speed will be set to {target_speed * 3.6} km/h"
-            )
-
-            # # _velocity speed, go straight down the driveway, and will hit the wall
-            # keep_speed = KeepVelocity(actor, target_speed, duration=father_duration.num)
-        elif isinstance(modifier, ChangeSpeedModifier):
-            # speed_delta indicates the increment of velocity
-            speed_delta = modifier.get_speed().gen_physical_value()
-            speed_delta = speed_delta * 3.6
-            current_car_conf = config.get_car_config(actor_name)
-            current_car_speed = current_car_conf.get_arg("target_speed")
-            current_car_speed = current_car_speed * 3.6
-            target_speed = current_car_speed + speed_delta
-            LOG_WARNING(
-                f"{actor_name} car speed will be changed to {target_speed} km/h"
-            )
-
-            actor = CarlaDataProvider.get_actor_by_name(actor_name)
-            change_speed = ChangeTargetSpeed(actor, target_speed)
-
-            car_driving = WaypointFollower(actor)
-            # car_driving.set_duration(duration)
-
-            father_tree.add_child(change_speed)
-            father_tree.add_child(car_driving)
-        elif isinstance(modifier, AccelerationModifier):
-            current_car_conf = config.get_car_config(actor_name)
-            current_car_speed = current_car_conf.get_arg("target_speed")
-            accelerate_speed = modifier.get_accelerate().gen_physical_value()
-            target_velocity = current_car_speed + accelerate_speed * duration
-            actor = CarlaDataProvider.get_actor_by_name(actor_name)
-            start_time = all_duration - duration
-            uniform_accelerate_speed = UniformAcceleration(
-                actor, current_car_speed, target_velocity, accelerate_speed, start_time
-            )
-            print("END ACCELERATION")
-            car_driving = WaypointFollower(actor)
-
-            father_tree.add_child(uniform_accelerate_speed)
-            father_tree.add_child(car_driving)
-        else:
-            LOG_WARNING("not implement modifier")
-
-
-def process_location_modifier(config, modifiers, duration: float, father_tree):
-    # position([distance: ]<distance> | time: <time>, [ahead_of: <car> | behind: <car>], [at: <event>])
-    # lane([[lane: ]<lane>][right_of | left_of | same_as: <car>] | [side_of: <car>, side: <av-side>][at: <event>])
-    """
-    Implementation idea: First determine the lane through lane,
-    and then determine the position in the lane through position.
-    If the trigger event is start, then directly set the strasform.
-    If it is end, calculate the distance between the current position and the end position,
-    and then divide by duration to get the speed of the car.
-    @TODO supplement absolute positioning.
-    """
-    if not modifiers:
-        return
-
-    for modifier in modifiers:
-        if isinstance(modifier, ChangeLaneModifier):
-            lane_changes = modifier.get_lane_changes()
-            av_side = modifier.get_side()
-            print(f"The car changes lanes to the {av_side} for {lane_changes} lanes.")
-            npc_name = modifier.get_actor_name()
-            actor = CarlaDataProvider.get_actor_by_name(npc_name)
-            lane_change = LaneChange(
-                actor, speed=None, direction=av_side, lane_changes=lane_changes
-            )
-            continue_drive = WaypointFollower(actor)
-            father_tree.add_child(lane_change)
-            father_tree.add_child(continue_drive)
-            print("END of change lane--")
-            return
-    # start
-    # Deal with absolute positioning vehicles first，such as lane(1, at: start)
-    event_start = [
-        m
-        for m in modifiers
-        if m.get_trigger_point() == "start" and m.get_refer_car() is None
-    ]
-
-    for m in event_start:
-        car_name = m.get_actor_name()
-        wp = CarlaDataProvider.get_waypoint_by_laneid(m.get_lane_id())
-        if wp:
-            actor = CarlaDataProvider.get_actor_by_name(car_name)
-            actor_visible = ActorTransformSetter(actor, wp.transform)
-            father_tree.add_child(actor_visible)
-
-            car_config = config.get_car_config(car_name)
-            car_config.set_arg({"init_transform": wp.transform})
-            LOG_INFO(
-                f"{car_name} car init position will be set to {wp.transform.location}, roadid = {wp.road_id}, laneid={wp.lane_id}, s = {wp.s}"
-            )
-        else:
-            raise RuntimeError(f"no valid position to spawn {car_name} car")
-
-    # Handle relative positioning vehicles
-    start_group = [
-        m
-        for m in modifiers
-        if m.get_trigger_point() == "start" and m.get_refer_car() is not None
-    ]
-
-    init_wp = None
-    npc_name = None
-
-    for modifier in start_group:
-        npc_name = modifier.get_actor_name()
-        # location reprents npc at ego_vehicle left, right, same, ahead
-        relative_car_name, location = modifier.get_refer_car()
-        relative_car_conf = config.get_car_config(relative_car_name)
-        relative_car_location = relative_car_conf.get_transform().location
-
-        relative_wp = CarlaDataProvider.get_map().get_waypoint(relative_car_location)
-
-        if init_wp is None:
-            init_wp = relative_wp
-
-        if location == "left_of":
-            temp_lane = init_wp.get_left_lane()
-            if temp_lane:
-                init_wp = temp_lane
-
-        elif location == "right_of":
-            temp_lane = init_wp.get_right_lane()
-            if temp_lane:
-                init_wp = temp_lane
-        elif location == "same_as":
-            # Same lane
-            pass
-        elif location in ('ahead_of', 'behind'):
-            distance = modifier.get_distance().gen_physical_value()
-
-            if location == "ahead_of":
-                wp_lists = init_wp.next(distance)
-            else:
-                wp_lists = init_wp.previous(distance)
-            if wp_lists:
-                init_wp = wp_lists[0]
-        else:
-            raise KeyError(f"wrong location = {location}")
-
-    if init_wp:
-        actor = CarlaDataProvider.get_actor_by_name(npc_name)
-        npc_car_visible = ActorTransformSetter(actor, init_wp.transform)
-        father_tree.add_child(npc_car_visible)
-
-        car_config = config.get_car_config(npc_name)
-        car_config.set_arg({"init_transform": init_wp.transform})
-        LOG_WARNING(
-            f"{npc_name} car init position will be set to {init_wp.transform.location},roadid = {init_wp.road_id}, laneid={init_wp.lane_id}, s={init_wp.s}"
-        )
-
-    # end
-    end_group = [m for m in modifiers if m.get_trigger_point() == "end"]
-
-    end_wp = None
-    end_lane_wp = None
-
-    for modifier in end_group:
-        npc_name = modifier.get_actor_name()
-
-        relative_car_name, location = modifier.get_refer_car()
-        relative_car_conf = config.get_car_config(relative_car_name)
-        relative_car_location = relative_car_conf.get_transform().location
-        LOG_WARNING(f"{relative_car_name} pos = {relative_car_location}")
-
-        relative_car_wp = CarlaDataProvider.get_map().get_waypoint(
-            relative_car_location
-        )
-        relative_car_speed = relative_car_conf.get_arg("target_speed")
-
-        distance_will_drive = relative_car_speed * float(duration)
-        LOG_WARNING(f"{relative_car_name} drive distance = {distance_will_drive}")
-
-        end_position = relative_car_wp.next(distance_will_drive)
-        if end_position is None or len(end_position) == 0:
-            raise RuntimeError("the road is not long enough")
-
-        end_position = end_position[0]
-
-        if location in ('ahead_of', 'behind'):
-            # End position constraint
-            distance = modifier.get_distance().gen_physical_value()
-            if location == "ahead_of":
-                wp_lists = end_position.next(distance)
-            else:
-                wp_lists = end_position.previous(distance)
-            if wp_lists:
-                end_wp = wp_lists[0]
-        elif location in ('left_of', 'right_of', 'same_as'):
-            # Lane restraint at the end
-            if location == "left_of":
-                temp_wp = relative_car_wp.get_left_lane()
-            elif location == "right_of":
-                temp_wp = relative_car_wp.get_right_lane()
-            elif location == "same_as":
-                temp_wp = relative_car_wp
-            else:
-                LOG_INFO("lane spec is error")
-
-            end_lane_wp = temp_wp
-        else:
-            raise RuntimeError("relative position is igeal")
-
-    if end_wp:
-        current_car_conf = config.get_car_config(npc_name)
-        current_car_transform = current_car_conf.get_arg("init_transform")
-
-        # Get the global route planner, used to calculate the route
-        grp = GlobalRoutePlanner(CarlaDataProvider.get_world().get_map(), 0.5)
-        # grp.setup()
-
-        distance = calculate_distance(
-            current_car_transform.location, end_wp.transform.location, grp
-        )
-
-        car_need_speed = distance / float(duration)
-
-        current_car_conf.set_arg({"desired_speed": car_need_speed})
-        LOG_WARNING(
-            f"{npc_name} car desired speed will be set to {car_need_speed * 3.6} km/h"
-        )
-
-        car_actor = CarlaDataProvider.get_actor_by_name(npc_name)
-        car_driving = WaypointFollower(car_actor, car_need_speed)
-        # car_driving.set_duration(duration)
-        father_tree.add_child(car_driving)
-
-    if end_lane_wp:
-        current_car_conf = config.get_car_config(npc_name)
-        current_car_transform = current_car_conf.get_arg("init_transform")
-        car_lane_wp = CarlaDataProvider.get_map().get_waypoint(
-            current_car_transform.location
-        )
-
-        direction = None
-        if end_lane_wp and car_lane_wp:
-            end_lane_id = end_lane_wp.lane_id
-            end_lane = None
-            if end_lane_id == car_lane_wp.get_left_lane().lane_id:
-                direction = "left"
-                end_lane = car_lane_wp.get_left_lane()
-            elif end_lane_id == car_lane_wp.get_right_lane().lane_id:
-                direction = "right"
-                end_lane = car_lane_wp.get_right_lane()
-            else:
-                print("no need change lane")
-
-            car_actor = CarlaDataProvider.get_actor_by_name(npc_name)
-
-            lane_change = LaneChange(
-                car_actor,
-                speed=None,
-                direction=direction,
-                distance_same_lane=5,
-                distance_other_lane=10,
-            )
-            # lane_change.set_duration(duration)
-
-            if end_lane:
-                # After lane change, the car needs to modify its lane information.
-                # Here, there should be a special variable to save the current transform
-                car_config = config.get_car_config(npc_name)
-                car_config.set_arg({"init_transform": end_lane.transform})
-
-            continue_drive = WaypointFollower(car_actor)
-            # car_driving.set_duration(duration)
-            father_tree.add_child(lane_change)
-            father_tree.add_child(continue_drive)
-
-
-class OSC2Scenario(BasicScenario):
-    """
-    Implementation of the osc2 Scenario
-    """
-
-    def __init__(
-        self,
-        world,
-        ego_vehicles,
-        config: OSC2ScenarioConfiguration,
-        osc2_file,
-        debug_mode=False,
-        criteria_enable=True,
-        timeout=300,
-    ):
-        """
-        Setup all relevant parameters and create scenario
-        """
-        self.config = config
-        self.route = None
-        self.osc2_file = osc2_file
-        self.ast_tree = OSC2Helper.gen_osc2_ast(self.osc2_file)
-        # Timeout of scenario in seconds
-        self.timeout = timeout
-        self.all_duration = float()
-
-        self.other_actors = None
-
-        self.behavior = None
-
-        # Check whether the access is available
-        self.visit_power = False
-        self.scenario_declaration = config.scenario_declaration
-        self.struct_declaration = config.struct_declaration
-        # Use struct_parameters to store parameters of type struct, so that we can recognize it in keep constraint
-        self.struct_parameters = {}
-
-        super(OSC2Scenario, self).__init__(
-            "OSC2Scenario",
-            ego_vehicles=ego_vehicles,
-            config=config,
-            world=world,
-            debug_mode=debug_mode,
-            terminate_on_failure=False,
-            criteria_enable=criteria_enable,
-        )
-
-    def set_behavior_tree(self, behavior):
-        self.behavior = behavior
-
-    class BehaviorInit(ASTVisitor):
-        def __init__(self, config_instance) -> None:
-            super().__init__()
-            self.father_ins = config_instance
-            self.root_behavior = None
-            self.__cur_behavior = None
-            self.__parent_behavior = {}
-            self.__duration = 1000000000.0
-
-        def get_behavior_tree(self):
-            return self.root_behavior
-
-        def visit_scenario_declaration(self, node: ast_node.ScenarioDeclaration):
-            scenario_name = node.qualified_behavior_name
-
-            if scenario_name != "top" and not self.father_ins.visit_power:
-                return
-
-            if scenario_name == "top" and self.father_ins.visit_power:
-                return
-
-            for child in node.get_children():
-                if isinstance(child, ast_node.DoDirective):
-                    self.visit_do_directive(child)
-                elif isinstance(child, ast_node.ModifierInvocation):
-                    self.visit_modifier_invocation(child)
-                elif isinstance(child, ast_node.ParameterDeclaration):
-                    self.visit_parameter_declaration(child)
-                elif isinstance(child, ast_node.KeepConstraintDeclaration):
-                    self.visit_keep_constraint_declaration(child)
-
-        def visit_do_directive(self, node: ast_node.DoDirective):
-            self.visit_children(node)
-
-        def bool_result(self, option):
-            # wait(x < y) @drive_distance Handling of Boolean expressions x < y
-            expression_value = re.split("\W+", option)
-            symbol = re.search("\W+", option).group()
-            if symbol == "<":
-                symbol = operator.lt
-            elif symbol == ">":
-                symbol = operator.gt
-            # if len(expression_value) == 2:
-            #     x = variables.Variable.get_arg(expression_value[0])
-            #     y = variables.Variable.get_arg(expression_value[1])
-            x = expression_value[0]
-            y = expression_value[1]
-            if "ego" in x:
-                actor_name = "ego_vehicle"
-                actor_ego = CarlaDataProvider.get_actor_by_name(actor_name)
-            if "npc" in y:
-                actor_name = "npc"
-                actor_npc = CarlaDataProvider.get_actor_by_name(actor_name)
-            return actor_ego, actor_npc, symbol
-
-        def visit_do_member(self, node: ast_node.DoMember):
-            self.__duration = 1000000000.0
-            composition_operator = node.composition_operator
-            sub_node = None
-            if composition_operator in ["serial", "parallel", "one_of"]:
-                if composition_operator == "serial":
-                    self.__cur_behavior = py_trees.composites.Sequence(
-                        policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                        name="serial",
-                    )
-                elif composition_operator == "parallel":
-                    self.__cur_behavior = py_trees.composites.Parallel(
-                        policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                        name="parallel",
-                    )
-                elif composition_operator == "one_of":
-                    self.__cur_behavior = py_trees.composites.Sequence(
-                        policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                        name="one_of",
-                    )
-                    do_member_list = []
-                    for child in node.get_children():
-                        if isinstance(child, ast_node.DoMember):
-                            do_member_list.append(child)
-                    sub_node = random.choice(do_member_list)
-            else:
-                raise NotImplementedError(
-                    f"no supported scenario operator {composition_operator}"
-                )
-
-            if self.root_behavior is None:
-                self.root_behavior = self.__cur_behavior
-                self.__parent_behavior[node] = self.__cur_behavior
-            elif (
-                self.root_behavior is not None
-                and self.__parent_behavior.get(node) is None
-            ):
-                self.__parent_behavior[node] = self.root_behavior
-                parent = self.__parent_behavior[node]
-                parent.add_child(self.__cur_behavior)
-            else:
-                parent = self.__parent_behavior[node]
-                parent.add_child(self.__cur_behavior)
-
-            for child in node.get_children():
-                if not isinstance(child, ast_node.AST):
-                    continue
-
-                if isinstance(child, (ast_node.DoMember, ast_node.EmitDirective, ast_node.WaitDirective)):
-                    self.__parent_behavior[child] = self.__cur_behavior
-
-            if sub_node is None:
-                for child in node.get_children():
-                    if not isinstance(child, ast_node.AST):
-                        continue
-
-                    if isinstance(child, ast_node.DoMember):
-                        self.visit_do_member(child)
-                    elif isinstance(child, ast_node.NamedArgument):
-                        named_arg = self.visit_named_argument(child)
-                        if named_arg[0] == "duration":
-                            if isinstance(named_arg[1], Physical):
-                                self.__duration = named_arg[1].gen_physical_value()
-                            else:
-                                print(
-                                    "[Error] 'duration' parameter must be 'Physical' type"
-                                )
-                                sys.exit(1)
-                    elif isinstance(child, ast_node.BehaviorInvocation):
-                        self.visit_behavior_invocation(child)
-                    elif isinstance(child, ast_node.WaitDirective):
-                        self.visit_wait_directive(child)
-                    elif isinstance(child, ast_node.EmitDirective):
-                        self.visit_emit_directive(child)
-                    elif isinstance(child, ast_node.CallDirective):
-                        self.visit_call_directive(child)
-                    else:
-                        raise NotImplementedError(f"no implentment AST node {child}")
-            else:
-                if isinstance(sub_node, ast_node.DoMember):
-                    self.visit_do_member(sub_node)
-                else:
-                    raise NotImplementedError("no supported ast node")
-
-            if re.match("\d", str(self.__duration)) and self.__duration != math.inf:
-                self.father_ins.all_duration += int(self.__duration)
-
-        def visit_wait_directive(self, node: ast_node.WaitDirective):
-            behaviors = py_trees.composites.Sequence(
-                policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="wait"
-            )
-            subbehavior = py_trees.composites.Sequence(
-                policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="behavior"
-            )
-
-            if node.get_child_count() == 1 and isinstance(
-                node.get_child(0), ast_node.EventCondition
-            ):
-                elapsed_condition = self.visit_event_condition(node.get_child(0))
-                self.__duration = elapsed_condition.gen_physical_value()
-                print(elapsed_condition, self.__duration)
-                self.father_ins.all_duration += int(self.__duration)
-                waitTriggerer = TimeOfWaitComparison(self.__duration)
-                waitTriggerer = oneshot_with_check(
-                    variable_name="wait_time", behaviour=waitTriggerer
-                )
-                subbehavior.add_child(waitTriggerer)
-                behaviors.add_child(subbehavior)
-                parent = self.__parent_behavior[node]
-                parent.add_child(behaviors)
-                return
-
-            bool_condition = ""
-            for child in node.get_children():
-                if not isinstance(child, ast_node.AST):
-                    continue
-                if isinstance(child, ast_node.EventReference):
-                    event_declaration_node, event_name = self.visit_event_reference(
-                        child
-                    )
-                elif isinstance(child, ast_node.EventFieldDecl):
-                    pass
-                elif isinstance(child, ast_node.EventCondition):
-                    # string bool_condition = 'x<y'
-                    bool_condition = self.visit_event_condition(child)
-                else:
-                    raise NotImplementedError(f"no implentment AST node {child}")
-            actor_ego, actor_npc, symbol = self.bool_result(bool_condition)
-            arguments = self.visit_children(event_declaration_node)
-            other_car = arguments[0][1]
-            distance = float(arguments[1][1].gen_physical_value())
-            ret = getattr(self.father_ins.event, event_name)(other_car, distance)
-            ret = oneshot_with_check(variable_name="wait_condition", behaviour=ret)
-
-            wait_triggerer = IfTriggerer(actor_ego, actor_npc, symbol)
-            wait_triggerer = oneshot_with_check(
-                variable_name="wait", behaviour=wait_triggerer
-            )
-            subbehavior.add_child(wait_triggerer)
-            subbehavior.add_child(ret)
-            behaviors.add_child(subbehavior)
-
-            parent = self.__parent_behavior[node]
-            parent.add_child(behaviors)
-
-        def visit_emit_directive(self, node: ast_node.EmitDirective):
-            behaviors = py_trees.composites.Sequence(
-                policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="emit"
-            )
-            function_name = node.event_name
-            arguments = self.visit_children(node)
-            actor = arguments[0][1]
-            distance = float(arguments[1][1].gen_physical_value())
-            ret = getattr(self.father_ins.event, function_name)(actor, distance)
-            ret = oneshot_with_check(variable_name="emit_condition", behaviour=ret)
-            behaviors.add_child(ret)
-
-            parent = self.__parent_behavior[node]
-            parent.add_child(behaviors)
-
-        def visit_behavior_invocation(self, node: ast_node.BehaviorInvocation):
-            actor = node.actor
-            behavior_name = node.behavior_name
-
-            behavior_invocation_name = None
-            if actor != None:
-                behavior_invocation_name = actor + "." + behavior_name
-            else:
-                behavior_invocation_name = behavior_name
-
-            if (
-                self.father_ins.scenario_declaration.get(behavior_invocation_name)
-                is not None
-            ):
-                self.father_ins.visit_power = True
-                scenario_declaration_node = copy.deepcopy(
-                    node.get_scope().declaration_address
-                )
-                # scenario_declaration_node = self.father_ins.scenario_declaration.get(behavior_invocation_name)
-                scenario_declaration_node_scope = scenario_declaration_node.get_scope()
-                arguments = self.visit_children(node)
-                # Stores the value of the argument before the invoked scenario was overwritten， 如a: time=None
-                # keyword_args = {}
-                if isinstance(arguments, List):
-                    for arg in arguments:
-                        if isinstance(arg, Tuple):
-                            scope = scenario_declaration_node_scope.resolve(arg[0])
-                            # keyword_args[arg[0]] = scope.value
-                            scope.value = arg[1]
-                elif isinstance(arguments, Tuple):
-                    scope = scenario_declaration_node_scope.resolve(arguments[0])
-                    # keyword_args[arguments[0]] = scope.value
-                    scope.value = arguments[1]
-                self.visit_scenario_declaration(scenario_declaration_node)
-                # Restores the value of the argument before the called scene was overwritten
-                # for (name,value) in keyword_args.items():
-                #     scope = scenario_declaration_node_scope.resolve(name)
-                #     scope.value = value
-                del scenario_declaration_node
-                return
-
-            behavior = py_trees.composites.Parallel(
-                policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
-                name=behavior_invocation_name
-                + " duration="
-                + str(int(self.__duration)),
-            )
-
-            # Create node for timeout
-            timeout = TimeOut(
-                self.__duration, name="duration=" + str(int(self.__duration))
-            )
-            behavior.add_child(timeout)
-
-            actor_drive = py_trees.composites.Sequence(
-                policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                name=behavior_invocation_name,
-            )
-
-            modifier_invocation_no_occur = True
-
-            location_modifiers = []
-            speed_modifiers = []
-
-            children = node.get_children()
-            for child in children:
-                if isinstance(child, ast_node.NamedArgument):
-                    named_arg = self.visit_named_argument(child)
-                    if named_arg[0] == "duration" and isinstance(
-                        named_arg[1], Physical
-                    ):
-                        self.__duration = named_arg[1].gen_physical_value()
-                    elif named_arg[0] == "duration":
-                        print("[Error] 'duration' parameter must be 'Physical' type")
-                        # sys.exit(1)
-                elif isinstance(child, ast_node.ModifierInvocation):
-                    modifier_invocation_no_occur = False
-                    modifier = self.visit_modifier_invocation(child)
-                    modifier_name = modifier[0]
-                    arguments = modifier[1]
-
-                    if modifier_name == "speed":
-                        modifier_ins = SpeedModifier(actor, modifier_name)
-                        keyword_args = {}
-                        if isinstance(arguments, list):
-                            arguments = OSC2Helper.flat_list(arguments)
-
-                            for arg in arguments:
-                                if isinstance(arg, tuple):
-                                    keyword_args[arg[0]] = arg[1]
-                                elif isinstance(arg, Physical):
-                                    keyword_args["speed"] = arg
-                        elif isinstance(arguments, tuple):
-                            keyword_args[arguments[0]] = arguments[1]
-                        elif isinstance(arguments, Physical):
-                            keyword_args["speed"] = arguments
-                        else:
-                            raise NotImplementedError(
-                                f"no implentment argument of {modifier_name}"
-                            )
-
-                        modifier_ins.set_args(keyword_args)
-
-                        speed_modifiers.append(modifier_ins)
-
-                    elif modifier_name == "position":
-                        modifier_ins = PositionModifier(actor, modifier_name)
-                        keyword_args = {}
-
-                        keyword_args = {}
-                        if isinstance(arguments, list):
-                            arguments = OSC2Helper.flat_list(arguments)
-                            for arg in arguments:
-                                if isinstance(arg, tuple):
-                                    keyword_args[arg[0]] = arg[1]
-                                elif isinstance(arg, Physical):
-                                    keyword_args["distance"] = arg
-                        elif isinstance(arguments, tuple):
-                            keyword_args[arguments[0]] = arguments[1]
-                        elif isinstance(arg, Physical):
-                            keyword_args["distance"] = arguments
-                        else:
-                            raise NotImplementedError(
-                                f"no implentment argument of {modifier_name}"
-                            )
-
-                        modifier_ins.set_args(keyword_args)
-
-                        location_modifiers.append(modifier_ins)
-
-                    elif modifier_name == "lane":
-                        modifier_ins = LaneModifier(actor, modifier_name)
-
-                        keyword_args = {}
-                        if isinstance(arguments, List):
-                            arguments = OSC2Helper.flat_list(arguments)
-                            for arg in arguments:
-                                if isinstance(arg, Tuple):
-                                    keyword_args[arg[0]] = arg[1]
-                                else:
-                                    keyword_args["lane"] = str(arg)
-                        elif isinstance(arguments, Tuple):
-                            keyword_args[arguments[0]] = arguments[1]
-                        else:
-                            keyword_args["lane"] = str(arguments)
-                        modifier_ins.set_args(keyword_args)
-
-                        location_modifiers.append(modifier_ins)
-
-                    elif modifier_name == "acceleration":
-                        modifier_ins = AccelerationModifier(actor, modifier_name)
-
-                        keyword_args = {}
-                        if isinstance(arguments, List):
-                            arguments = OSC2Helper.flat_list(arguments)
-                            for arg in arguments:
-                                if isinstance(arg, Tuple):
-                                    keyword_args[arg[0]] = arg[1]
-                                else:
-                                    keyword_args["acceleration"] = arg
-                        elif isinstance(arguments, Tuple):
-                            keyword_args[arguments[0]] = arguments[1]
-                        else:
-                            keyword_args["acceleration"] = arguments
-                        modifier_ins.set_args(keyword_args)
-                        speed_modifiers.append(modifier_ins)
-
-                    elif modifier_name == "keep_lane":
-                        actor_object = CarlaDataProvider.get_actor_by_name(actor)
-                        car_driving = WaypointFollower(actor_object)
-                        actor_drive.add_child(car_driving)
-
-                        behavior.add_child(actor_drive)
-                        # self.__cur_behavior.add_child(behavior)
-                        print("Target keep lane.")
-
-                    elif modifier_name == "change_speed":
-                        # change_speed([speed: ]<speed>)
-                        modifier_ins = ChangeSpeedModifier(actor, modifier_name)
-
-                        keyword_args = {}
-                        if isinstance(arguments, Tuple):
-                            keyword_args[arguments[0]] = arguments[1]
-                        elif isinstance(arguments, Physical):
-                            keyword_args["desired_speed"] = arguments
-                        else:
-                            return f"Needed 1 arguments, but given {len(arguments)}arguments."
-
-                        modifier_ins.set_args(keyword_args)
-
-                        speed_modifiers.append(modifier_ins)
-
-                    elif modifier_name == "change_lane":
-                        modifier_ins = ChangeLaneModifier(actor, modifier_name)
-
-                        keyword_args = {}
-                        count = 0
-                        for _, _ in enumerate(arguments):
-                            count += 1
-                        if count == 1:
-                            keyword_args["side"] = arguments
-                        elif count == 2:
-                            if isinstance(arguments[0], Tuple):
-                                keyword_args[arguments[0][0]] = str(arguments[0][1])
-                            else:
-                                keyword_args["lane_changes"] = str(arguments[0])
-                            if isinstance(arguments[1], Tuple):
-                                keyword_args[arguments[1][0]] = arguments[1][1]
-                            else:
-                                keyword_args["side"] = arguments[1]
-                        else:
-                            return f"Needed 2 arguments, but given {len(arguments)}arguments."
-
-                        modifier_ins.set_args(keyword_args)
-
-                        location_modifiers.append(modifier_ins)
-                    else:
-                        raise NotImplementedError(
-                            f"no implentment function: {modifier_name}"
-                        )
-
-            if modifier_invocation_no_occur:
-                car_actor = CarlaDataProvider.get_actor_by_name(actor)
-                car_driving = WaypointFollower(car_actor)
-                actor_drive.add_child(car_driving)
-                behavior.add_child(actor_drive)
-                self.__cur_behavior.add_child(behavior)
-                return
-
-            process_location_modifier(
-                self.father_ins.config, location_modifiers, self.__duration, actor_drive
-            )
-            process_speed_modifier(
-                self.father_ins.config,
-                speed_modifiers,
-                self.__duration,
-                self.father_ins.all_duration,
-                actor_drive,
-            )
-
-            behavior.add_child(actor_drive)
-            self.__cur_behavior.add_child(behavior)
-
-        def visit_modifier_invocation(self, node: ast_node.ModifierInvocation):
-            # actor = node.actor
-            modifier_name = node.modifier_name
-            LOG_INFO(f"modifier invocation name {node.modifier_name}")
-            arguments = self.visit_children(node)
-            line, column = node.get_loc()
-            # retrieval_name = modifier_name + para_type_str_sequence(config=self.father_ins.config,
-            # arguments=arguments, line=line, column=column, node=node)
-            retrieval_name = modifier_name
-            method_scope = node.get_scope().resolve(retrieval_name)
-            if (
-                method_scope is None
-                and modifier_name not in dir(self.father_ins.config.path)
-                and modifier_name
-                not in (
-                    "speed",
-                    "lane",
-                    "position",
-                    "acceleration",
-                    "keep_lane",
-                    "change_speed",
-                    "change_lane",
-                )
-            ):
-                line, column = node.get_loc()
-                LOG_ERROR(
-                    "Not Find " + modifier_name + " Method Declaration",
-                    token=None,
-                    line=line,
-                    column=column,
-                )
-            if isinstance(method_scope, MethodSymbol):
-                method_declaration_node = copy.deepcopy(
-                    method_scope.declaration_address
-                )
-                method_scope = method_declaration_node.get_scope()
-                if isinstance(arguments, List):
-                    for arg in arguments:
-                        if isinstance(arg, Tuple):
-                            scope = method_scope.resolve(arg[0])
-                            scope.value = arg[1]
-                elif isinstance(arguments, Tuple):
-                    scope = method_scope.resolve(arguments[0])
-                    scope.value = arguments[1]
-                method_value = None
-                for child in method_declaration_node.get_children():
-                    if isinstance(child, ast_node.MethodBody):
-                        method_value = self.visit_method_body(child)
-                del method_declaration_node
-                if method_value is not None:
-                    return method_value
-                return
-            else:
-                pass
-            arguments = self.visit_children(node)
-            return modifier_name, arguments
-
-        def visit_event_reference(self, node: ast_node.EventReference):
-            return (
-                copy.deepcopy(
-                    node.get_scope().resolve(node.event_path).declaration_address
-                ),
-                node.event_path,
-            )
-            # return node.event_path
-
-        def visit_event_field_declaration(self, node: ast_node.EventFieldDecl):
-            return super().visit_event_field_declaration(node)
-
-        def visit_event_condition(self, node: ast_node.EventCondition):
-            expression = ""
-            for child in node.get_children():
-                if isinstance(child, ast_node.RelationExpression):
-                    flat_arguments = self.visit_relation_expression(child)
-                    temp_stack = []
-                    for ex in flat_arguments:
-                        if ex in RelationalOperator.values():
-                            right = temp_stack.pop()
-                            left = temp_stack.pop()
-                            expression = left + ex + str(right)
-                            temp_stack.append(expression)
-                        elif ex == "in":
-                            right = temp_stack.pop()
-                            left = temp_stack.pop()
-                            innum = temp_stack.pop()
-                            expression = (
-                                innum + " " + ex + " [" + left + ", " + right + "]"
-                            )
-                            temp_stack.append(expression)
-                        else:
-                            temp_stack.append(ex)
-                    expression = temp_stack.pop()
-                elif isinstance(child, ast_node.LogicalExpression):
-                    expression = self.visit_logical_expression(child)
-                elif isinstance(child, ast_node.ElapsedExpression):
-                    expression = self.visit_elapsed_expression(child)
-                else:
-                    pass
-            return expression
-
-        def visit_relation_expression(self, node: ast_node.RelationExpression):
-            arguments = [self.visit_children(node), node.operator]
-            flat_arguments = OSC2Helper.flat_list(arguments)
-            return flat_arguments
-
-        def visit_logical_expression(self, node: ast_node.LogicalExpression):
-            arguments = [self.visit_children(node), node.operator]
-            flat_arguments = OSC2Helper.flat_list(arguments)
-            temp_stack = []
-            for ex in flat_arguments:
-                if ex in ('and', 'or', '=>'):
-                    expression = ""
-                    length = len(temp_stack) - 1
-                    for num in temp_stack:
-                        if length > 0:
-                            expression = expression + num + " " + ex + " "
-                            length = length - 1
-                        else:
-                            expression = expression + num
-                    temp_stack.clear()
-                    temp_stack.append(expression)
-                elif ex == "not":
-                    num = temp_stack.pop()
-                    expression = ex + " " + num
-                    temp_stack.append(expression)
-                else:
-                    temp_stack.append(ex)
-            logical_expression = temp_stack.pop()
-            # return [self.visit_children(node), node.operator]
-            return logical_expression
-
-        def visit_elapsed_expression(self, node: ast_node.ElapsedExpression):
-            child = node.get_child(0)
-            if isinstance(child, ast_node.PhysicalLiteral):
-                return self.visit_physical_literal(child)
-            elif isinstance(child, ast_node.RangeExpression):
-                return self.visit_range_expression(child)
-            else:
-                return None
-
-        def visit_binary_expression(self, node: ast_node.BinaryExpression):
-            arguments = [self.visit_children(node), node.operator]
-            flat_arguments = OSC2Helper.flat_list(arguments)
-            LOG_INFO(f"{flat_arguments}")
-            temp_stack = []
-            for ex in flat_arguments:
-                if ex in ('+', '-', '*', '/', '%'):
-                    right = temp_stack.pop()
-                    left = temp_stack.pop()
-                    # expression = left + ' ' + ex + ' ' + right
-                    if ex == "+":
-                        expression = left + right
-                    elif ex == "-":
-                        expression = left - right
-                    elif ex == "*":
-                        expression = left * right
-                    elif ex == "/":
-                        expression = left / right
-                    elif ex == "%":
-                        expression = left % right
-                    else:
-                        LOG_INFO(f"undefined Binary Expression operator: {ex}")
-                    temp_stack.append(expression)
-                else:
-                    temp_stack.append(ex)
-            binary_expression = temp_stack.pop()
-            LOG_INFO(f"Relation Expression Value: {binary_expression}")
-            # return [self.visit_children(node), node.operator]
-            return binary_expression
-
-        def visit_named_argument(self, node: ast_node.NamedArgument):
-            return node.argument_name, self.visit_children(node)
-
-        def visit_positional_argument(self, node: ast_node.PositionalArgument):
-            return self.visit_children(node)
-
-        def visit_range_expression(self, node: ast_node.RangeExpression):
-            start, end = self.visit_children(node)
-            if type(start) != type(end):
-                print("[Error] different types between start and end of the range")
-                sys.exit(1)
-
-            start_num = None
-            end_num = None
-            start_unit = None
-            end_unit = None
-            unit_name = None
-
-            if isinstance(start, Physical):
-                start_num = start.num
-                end_num = end.num
-
-                start_unit = start.unit
-                end_unit = end.unit
-            else:
-                start_num = start
-                end_num = end
-
-            if start_unit is not None and end_unit is not None:
-                if start_unit == end_unit:
-                    unit_name = start_unit
-                else:
-                    print("[Error] wrong unit in the range")
-                    sys.exit(1)
-
-            if start_num >= end_num:
-                print("[Error] wrong start and end in the range")
-                sys.exit(1)
-
-            var_range = Range(start_num, end_num)
-
-            if unit_name:
-                return Physical(var_range, unit_name)
-            else:
-                return var_range
-
-        def visit_physical_literal(self, node: ast_node.PhysicalLiteral):
-            return Physical(
-                self.visit_children(node),
-                self.father_ins.config.unit_dict[node.unit_name],
-            )
-
-        def visit_integer_literal(self, node: ast_node.IntegerLiteral):
-            return int(node.value)
-
-        def visit_float_literal(self, node: ast_node.FloatLiteral):
-            return float(node.value)
-
-        def visit_bool_literal(self, node: ast_node.BoolLiteral):
-            return node.value == "true"
-
-        def visit_string_literal(self, node: ast_node.StringLiteral):
-            return node.value
-
-        def visit_identifier(self, node: ast_node.Identifier):
-            return node.name
-
-        def visit_identifier_reference(self, node: ast_node.IdentifierReference):
-            para_name = node.name
-            para_type = None
-            para_value = None
-            if node.get_scope() is not None:
-                if not hasattr(node.get_scope(), "type"):
-                    return para_name
-                para_type = node.get_scope().type
-                symbol = node.get_scope()
-                last_value = None
-                cur_value = node.get_scope().value
-                while last_value != cur_value and symbol.resolve(cur_value) is not None:
-                    symbol = symbol.resolve(cur_value)
-                    last_value = cur_value
-                    cur_value = symbol.value
-                if cur_value is None:
-                    return symbol.name
-                else:
-                    para_value = cur_value
-            if para_value is not None:
-                if isinstance(para_value, (Physical, float, int)):
-                    return para_value
-                para_value = para_value.strip('"')
-                if re.fullmatch("(^[-]?[0-9]+(\.[0-9]+)?)\s*(\w+)", para_value):
-                    # Regular expression ^[-]?[0-9]+(\.[0-9]+)? matching float
-                    # para_value_num = re.findall('^[-]?[0-9]+(\.[0-9]+)?', para_value)[0]
-                    patter = re.compile("(^[-]?[0-9]+[\.[0-9]+]?)\s*(\w+)")
-                    para_value_num, para_value_unit = patter.match(para_value).groups()
-                    if para_value_num.count(".") == 1:
-                        return Physical(
-                            float(para_value_num),
-                            self.father_ins.config.unit_dict[para_value_unit],
-                        )
-                    else:
-                        return Physical(
-                            int(para_value_num),
-                            self.father_ins.config.unit_dict[para_value_unit],
-                        )
-                elif para_type == "int":
-                    return int(para_value)
-                elif para_type == "uint":
-                    return int(para_value)
-                elif para_type == "float":
-                    return float(para_value)
-                elif para_type == "bool":
-                    return para_value == "true"
-                elif para_type == "string":
-                    return para_value
-                else:
-                    return para_value
-            else:
-                return para_name
-
-        def visit_parameter_declaration(self, node: ast_node.ParameterDeclaration):
-            para_name = node.field_name
-            para_type = node.field_type
-            para_value = None
-            for child in node.get_children():
-                if isinstance(child, ast_node.FunctionApplicationExpression):
-                    para_value = self.visit_function_application_expression(child)
-            if para_value is not None:
-                node.get_scope().value = para_value
-
-            # Save variables of type struct for later access
-            if para_type in self.father_ins.struct_declaration:
-                self.father_ins.struct_parameters.update(
-                    {para_name[0]: self.father_ins.struct_declaration[para_type]}
-                )
-
-        def visit_method_declaration(self, node: ast_node.MethodDeclaration):
-            pass
-
-        def visit_argument(self, node: ast_node.Argument):
-            return node.argument_name, self.visit_children(node)
-
-        def visit_method_body(self, node: ast_node.MethodBody):
-            type = node.type
-            method_value = None
-            if type == "external":
-                external_list = []
-                for child in node.get_children():
-                    if isinstance(child, ast_node.PositionalArgument):
-                        line, column = node.get_loc()
-                        LOG_ERROR(
-                            "not support external format.!",
-                            token=None,
-                            line=line,
-                            column=column,
-                        )
-                    elif isinstance(child, ast_node.NamedArgument):
-                        name, value = self.visit_named_argument(child)
-                        external_list.append((name, value))
-
-                exec_context = ""
-                module_name = None
-                for elem in external_list:
-                    if "module" == elem[0]:
-                        exec_context += "import " + str(elem[1]) + "\n"
-                        module_name = str(elem[1])
-                    elif "name" == elem[0]:
-                        exec_context += "ret = "
-                        if module_name is not None:
-                            exec_context += module_name + "." + str(elem[1]) + "("
-                        else:
-                            exec_context += str(elem[1]) + "("
-                    else:
-                        exec_context += str(elem[1])
-                exec_context += ")\n"
-
-                try:
-                    exec_data = {}
-                    exec(exec_context, globals(), exec_data)
-                    method_value = exec_data["ret"]
-                except Exception:
-                    line, column = node.get_loc()
-                    LOG_ERROR(
-                        "not support external format.!",
-                        token=None,
-                        line=line,
-                        column=column,
-                    )
-
-                return method_value
-            else:
-                for child in node.get_children():
-                    if isinstance(child, ast_node.BinaryExpression):
-                        method_value = self.visit_binary_expression(child)
-            if method_value is not None:
-                return method_value
-            return
-
-        def visit_function_application_expression(
-            self, node: ast_node.FunctionApplicationExpression
-        ):
-            LOG_INFO("visit function application expression!")
-            LOG_INFO("func name:" + node.func_name)
-
-            arguments = OSC2Helper.flat_list(self.visit_children(node))
-            line, column = node.get_loc()
-            # retrieval_name = para_type_str_sequence(config=self.father_ins.config, arguments=arguments, line=line, column=column, node=node)
-            retrieval_name = arguments[0].split(".")[-1]
-            method_scope = node.get_scope().resolve(retrieval_name)
-
-            method_name = arguments[0]
-            if method_scope is None:
-                LOG_ERROR(
-                    "Not Find " + method_name + " Method Declaration",
-                    token=None,
-                    line=line,
-                    column=column,
-                )
-            para_value = None
-            if isinstance(method_scope, MethodSymbol):
-                method_declaration_node = copy.deepcopy(
-                    method_scope.declaration_address
-                )
-                method_scope = method_declaration_node.get_scope()
-                if isinstance(arguments, List):
-                    for arg in arguments:
-                        if isinstance(arg, Tuple):
-                            scope = method_scope.resolve(arg[0])
-                            scope.value = arg[1]
-                elif isinstance(arguments, Tuple):
-                    scope = method_scope.resolve(arguments[0])
-                    scope.value = arguments[1]
-                para_value = None
-                for child in method_declaration_node.get_children():
-                    if isinstance(child, ast_node.MethodBody):
-                        para_value = self.visit_method_body(child)
-                        break
-                del method_declaration_node
-                if para_value is not None:
-                    return para_value
-                return para_value
-            else:
-                pass
-
-        def visit_keep_constraint_declaration(
-            self, node: ast_node.KeepConstraintDeclaration
-        ):
-            arguments = self.visit_children(node)
-            retrieval_name = arguments[0]
-
-            # Struct parameter or actor parameter contains '.'
-            if "." in retrieval_name:
-                layered_names = retrieval_name.split(".")
-                prefix = layered_names[0]
-                suffix = layered_names[1:]
-                if prefix == "it":
-                    pass
-                elif prefix in self.father_ins.struct_parameters:
-                    # param_name is the name of the struct variable, and param_scope is a ParameterSymbol
-                    param_scope = node.get_scope().resolve(prefix)
-                    self._build_struct_tree(param_scope)
-                    self._visit_struct_tree(param_scope, suffix, 0, arguments[1])
-            param_scope = node.get_scope().resolve(retrieval_name)
-            if param_scope is not None and isinstance(param_scope, ParameterSymbol):
-                if arguments[2] == RelationalOperator.EQUALITY.value:
-                    param_scope.value = arguments[1]
-                elif arguments[2] == RelationalOperator.INEQUALITY.value:
-                    pass
-                elif arguments[2] == RelationalOperator.LESS_THAN.value:
-                    pass
-                elif arguments[2] == RelationalOperator.LESS_OR_EQUAL.value:
-                    pass
-                elif arguments[2] == RelationalOperator.GREATER_THAN.value:
-                    pass
-                elif arguments[2] == RelationalOperator.GREATER_OR_EQUAL.value:
-                    pass
-                elif arguments[2] == RelationalOperator.MEMBERSHIP.value:
-                    pass
-
-        # For variables of struct type, it is necessary to construct its struct variable tree in the symbol table
-        # The struct variable tree is a subtree of the symbol tree
-        def _build_struct_tree(self, param_symbol: ParameterSymbol):
-            if param_symbol.value is None:
-                param_symbol.value = copy.deepcopy(
-                    self.father_ins.struct_parameters[param_symbol.name]
-                ).get_scope()
-            for key in param_symbol.value.symbols:
-                child_symbol = param_symbol.value.symbols[key]
-                if isinstance(child_symbol, ParameterSymbol):
-                    # If the child parameter is of struct type, the current method is called recursively
-                    if child_symbol.type in self.father_ins.struct_declaration:
-                        self._build_struct_tree(child_symbol)
-
-        # visit struct variable tree and assign value
-        def _visit_struct_tree(
-            self, root: ParameterSymbol, suffix: list, index: int, value
-        ):
-            if root.type not in self.father_ins.struct_declaration:
-                root.value = value
-                return
-            if index >= len(suffix):
-                return
-            to_visit_param = suffix[index]
-            child_symbols = root.value.symbols
-            if to_visit_param not in child_symbols:
-                return
-            self._visit_struct_tree(
-                child_symbols[to_visit_param], suffix, index + 1, value
-            )
-
-    def _create_behavior(self):
-        """
-        Basic behavior do nothing, i.e. Idle
-        """
-        behavior_builder = self.BehaviorInit(self)
-        behavior_builder.visit(self.ast_tree)
-
-        behavior_tree = behavior_builder.get_behavior_tree()
-        self.set_behavior_tree(behavior_tree)
-
-        # py_trees.display.render_dot_tree(behavior_tree)
-
-        return self.behavior
-
-    def _create_test_criteria(self):
-        """
-        A list of all test criteria is created, which is later used in the parallel behavior tree.
-        """
-        criteria = []
-
-        collision_criterion = CollisionTest(self.ego_vehicles[0])
-
-        criteria.append(collision_criterion)
-
-        return criteria
-
-    def __del__(self):
-        """
-        Remove all actors upon deletion
-        """
-        self.remove_all_actors()

From 7c83653b5454ad936708793b39bda3250ea961f1 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 11 Jan 2026 10:28:58 +0000
Subject: [PATCH 002/133] removed redunant openscenario class

---
 srunner/scenarios/open_scenario.py | 617 -----------------------------
 1 file changed, 617 deletions(-)
 delete mode 100644 srunner/scenarios/open_scenario.py

diff --git a/srunner/scenarios/open_scenario.py b/srunner/scenarios/open_scenario.py
deleted file mode 100644
index c7f58d0..0000000
--- a/srunner/scenarios/open_scenario.py
+++ /dev/null
@@ -1,617 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2019-2020 Intel Corporation
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""
-Basic scenario class using the OpenSCENARIO definition
-"""
-
-from __future__ import print_function
-
-from distutils.util import strtobool
-import itertools
-import os
-import py_trees
-
-from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
-from srunner.scenariomanager.scenarioatomics.atomic_behaviors import ChangeWeather, ChangeRoadFriction, ChangeParameter, \
-    ChangeActorLaneOffset, ChangeActorWaypoints, ChangeLateralDistance
-from srunner.scenariomanager.scenarioatomics.atomic_behaviors import ChangeActorControl, ChangeActorTargetSpeed
-from srunner.scenariomanager.timer import GameTime
-from srunner.scenariomanager.weather_sim import OSCWeatherBehavior
-from srunner.scenarios.basic_scenario import BasicScenario
-from srunner.tools.openscenario_parser import OpenScenarioParser, oneshot_with_check, ParameterRef
-from srunner.tools.py_trees_port import Decorator
-
-
-def repeatable_behavior(behaviour, name=None):
-    """
-    This behaviour allows a composite with oneshot ancestors to run multiple
-    times, resetting the oneshot variables after each execution
-    """
-    if not name:
-        name = behaviour.name
-    clear_descendant_variables = ClearBlackboardVariablesStartingWith(
-        name="Clear Descendant Variables of {}".format(name),
-        variable_name_beginning=name + ">"
-    )
-    # If it's a sequence, don't double-nest it in a redundant manner
-    if isinstance(behaviour, py_trees.composites.Sequence):
-        behaviour.add_child(clear_descendant_variables)
-        sequence = behaviour
-    else:
-        sequence = py_trees.composites.Sequence(name="RepeatableBehaviour of {}".format(name))
-        sequence.add_children([behaviour, clear_descendant_variables])
-    return sequence
-
-
-class ClearBlackboardVariablesStartingWith(py_trees.behaviours.Success):
-
-    """
-    Clear the values starting with the specified string from the blackboard.
-
-    Args:
-        name (:obj:`str`): name of the behaviour
-        variable_name_beginning (:obj:`str`): beginning of the names of variable to clear
-    """
-
-    def __init__(self,
-                 name="Clear Blackboard Variable Starting With",
-                 variable_name_beginning="dummy",
-                 ):
-        super(ClearBlackboardVariablesStartingWith, self).__init__(name)
-        self.variable_name_beginning = variable_name_beginning
-
-    def initialise(self):
-        """
-        Delete the variables from the blackboard.
-        """
-        blackboard_variables = [key for key, _ in py_trees.blackboard.Blackboard().__dict__.items(
-        ) if key.startswith(self.variable_name_beginning)]
-        for variable in blackboard_variables:
-            delattr(py_trees.blackboard.Blackboard(), variable)
-
-
-class StoryElementStatusToBlackboard(Decorator):
-
-    """
-    Reflect the status of the decorator's child story element to the blackboard.
-
-    Args:
-        child: the child behaviour or subtree
-        story_element_type: the element type [act,scene,maneuver,event,action]
-        element_name: the story element's name attribute
-    """
-
-    def __init__(self, child, story_element_type, element_name):
-        super(StoryElementStatusToBlackboard, self).__init__(name=child.name, child=child)
-        self.story_element_type = story_element_type
-        self.element_name = element_name
-        self.blackboard = py_trees.blackboard.Blackboard()
-
-    def initialise(self):
-        """
-        Record the elements's start time on the blackboard
-        """
-        self.blackboard.set(
-            name="({}){}-{}".format(self.story_element_type.upper(),
-                                    self.element_name, "START"),
-            value=GameTime.get_time(),
-            overwrite=True
-        )
-
-    def update(self):
-        """
-        Reflect the decorated child's status
-        Returns: the decorated child's status
-        """
-        return self.decorated.status
-
-    def terminate(self, new_status):
-        """
-        Terminate and mark Blackboard entry with END
-        """
-        # Report whether we ended with End or Cancel
-        # If we were ended or cancelled, our state will be INVALID and
-        # We will have an ancestor (a parallel SUCCESS_ON_ALL) with a successful child/children
-        # It's possible we ENDed AND CANCELled if both condition groups were true simultaneously
-        # NOTE 'py_trees.common.Status.INVALID' is the status of a behaviur which was terminated by a parent
-        rules = []
-        if new_status == py_trees.common.Status.INVALID:
-            # We were terminated from above unnaturally
-            # Figure out if were ended or cancelled
-            terminating_ancestor = self.parent
-            while terminating_ancestor.status == py_trees.common.Status.INVALID:
-                terminating_ancestor = terminating_ancestor.parent
-            # We have found an ancestory which was not terminated by a parent
-            # Check what caused it to terminate its children
-            if terminating_ancestor.status == py_trees.common.Status.SUCCESS:
-                successful_children = [
-                    child.name
-                    for child
-                    in terminating_ancestor.children
-                    if child.status == py_trees.common.Status.SUCCESS]
-                if "StopTrigger" in successful_children:
-                    rules.append("END")
-
-        # END is the default status unless we have a more detailed one
-        rules = rules or ["END"]
-
-        for rule in rules:
-            self.blackboard.set(
-                name="({}){}-{}".format(self.story_element_type.upper(),
-                                        self.element_name, rule),
-                value=GameTime.get_time(),
-                overwrite=True
-            )
-
-
-def get_xml_path(tree, node):
-    """
-    Extract the full path of a node within an XML tree
-
-    Note: Catalogs are pulled from a separate file so the XML tree is split.
-          This means that in order to get the XML path, it must be done in 2 steps.
-          Some places in this python script do that by concatenating the results
-          of 2 get_xml_path calls with another ">".
-          Example: "Behavior>AutopilotSequence" + ">" + "StartAutopilot>StartAutopilot>StartAutopilot"
-    """
-
-    path = ""
-    parent_map = {c: p for p in tree.iter() for c in p}
-
-    cur_node = node
-    while cur_node != tree:
-        path = "{}>{}".format(cur_node.attrib.get('name'), path)
-        cur_node = parent_map[cur_node]
-
-    path = path[:-1]
-    return path
-
-
-class OpenScenario(BasicScenario):
-
-    """
-    Implementation of the OpenSCENARIO scenario
-    """
-
-    def __init__(self, world, ego_vehicles, config, config_file, debug_mode=False, criteria_enable=True, timeout=300):
-        """
-        Setup all relevant parameters and create scenario
-        """
-        self.config = config
-        self.route = None
-        self.config_file = config_file
-        # Timeout of scenario in seconds
-        self.timeout = timeout
-
-        super(OpenScenario, self).__init__(self.config.name, ego_vehicles=ego_vehicles, config=config,
-                                           world=world, debug_mode=debug_mode,
-                                           terminate_on_failure=False, criteria_enable=criteria_enable)
-
-    def _initialize_parameters(self):
-        """
-        Parse ParameterAction from Init and update global osc parameters.
-        """
-        param_behavior = py_trees.composites.Parallel(
-            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="ParametersInit")
-        for i, global_action in enumerate(self.config.init.find('Actions').iter('GlobalAction')):
-            maneuver_name = 'InitParams'
-            if global_action.find('ParameterAction') is not None:
-                parameter_action = global_action.find('ParameterAction')
-                parameter_ref = parameter_action.attrib.get('parameterRef')
-                if parameter_action.find('ModifyAction') is not None:
-                    action_rule = parameter_action.find('ModifyAction').find("Rule")
-                    if action_rule.find("AddValue") is not None:
-                        rule, value = '+', action_rule.find("AddValue").attrib.get('value')
-                    else:
-                        rule, value = '*', action_rule.find("MultiplyByValue").attrib.get('value')
-                else:
-                    rule, value = None, parameter_action.find('SetAction').attrib.get('value')
-                parameter_update = ChangeParameter(parameter_ref, value=ParameterRef(value), rule=rule,
-                                                   name=maneuver_name + '_%d' % i)
-                param_behavior.add_child(oneshot_with_check(variable_name="InitialParameters" + '_%d' % i,
-                                                            behaviour=parameter_update))
-
-        return param_behavior
-
-    def _initialize_environment(self, world):
-        """
-        Initialization of weather and road friction.
-        """
-        pass
-
-    def _create_environment_behavior(self):
-        # Set the appropriate weather conditions
-
-        env_behavior = py_trees.composites.Parallel(
-            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="EnvironmentBehavior")
-
-        weather_update = ChangeWeather(
-            OpenScenarioParser.get_weather_from_env_action(self.config.init, self.config.catalogs))
-        road_friction = ChangeRoadFriction(
-            OpenScenarioParser.get_friction_from_env_action(self.config.init, self.config.catalogs))
-        env_behavior.add_child(oneshot_with_check(variable_name="InitialWeather", behaviour=weather_update))
-        env_behavior.add_child(oneshot_with_check(variable_name="InitRoadFriction", behaviour=road_friction))
-
-        return env_behavior
-
-    def _create_init_behavior(self):
-
-        init_behavior = py_trees.composites.Parallel(
-            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="InitBehaviour")
-
-        actor_list = self.other_actors + self.ego_vehicles + [None]
-
-        for actor in self.config.other_actors + self.config.ego_vehicles:
-            for carla_actor in self.other_actors + self.ego_vehicles:
-                if (carla_actor is not None and 'role_name' in carla_actor.attributes and
-                        carla_actor.attributes['role_name'] == actor.rolename):
-                    actor_init_behavior = py_trees.composites.Sequence(name="InitActor{}".format(actor.rolename))
-
-                    controller_atomic = None
-                    atomic = None
-                    for private in self.config.init.iter("Private"):
-                        if private.attrib.get('entityRef', None) == actor.rolename:
-                            for private_action in private.iter("PrivateAction"):
-                                if private_action.find('ControllerAction') is not None:
-                                    for controller_action in private_action.iter('ControllerAction'):
-                                        module, args = OpenScenarioParser.get_controller(
-                                            controller_action, self.config.catalogs)
-                                        controller_atomic = ChangeActorControl(
-                                            carla_actor, control_py_module=module, args=args,
-                                            scenario_file_path=os.path.dirname(self.config.filename))
-
-                                elif private_action.find('LateralAction') is not None:
-                                    private_action = private_action.find('LateralAction')
-                                    if private_action.find('LaneOffsetAction') is not None:
-                                        lat_maneuver = private_action.find('LaneOffsetAction')
-                                        continuous = bool(strtobool(lat_maneuver.attrib.get('continuous', "true")))
-                                        # Parsing of the different Dynamic shapes is missing
-                                        lane_target_offset = lat_maneuver.find('LaneOffsetTarget')
-                                        if lane_target_offset.find('AbsoluteTargetLaneOffset') is not None:
-                                            absolute_offset = ParameterRef(
-                                                lane_target_offset.find('AbsoluteTargetLaneOffset').attrib.get('value',
-                                                                                                               0))
-                                            atomic = ChangeActorLaneOffset(
-                                                carla_actor, absolute_offset, continuous=continuous,
-                                                name='LaneOffsetAction')
-
-                                        elif lane_target_offset.find('RelativeTargetLaneOffset') is not None:
-                                            relative_target_offset = lane_target_offset.find('RelativeTargetLaneOffset')
-                                            relative_offset = ParameterRef(
-                                                relative_target_offset.attrib.get('value', 0))
-                                            relative_actor_name = relative_target_offset.attrib.get('entityRef', None)
-                                            relative_actor = None
-                                            for _actor in actor_list:
-                                                if _actor is not None and 'role_name' in _actor.attributes:
-                                                    if relative_actor_name == _actor.attributes['role_name']:
-                                                        relative_actor = _actor
-                                                        break
-                                            if relative_actor is None:
-                                                raise AttributeError(
-                                                    "Cannot find actor '{}' for condition".format(relative_actor_name))
-                                            atomic = ChangeActorLaneOffset(carla_actor, relative_offset, relative_actor,
-                                                                           continuous=continuous,
-                                                                           name='LaneOffsetAction')
-                                    if private_action.find("LateralDistanceAction") is not None:
-                                        lat_maneuver = private_action.find('LateralDistanceAction')
-                                        maneuver_name = "LateralDistanceActionInit"
-                                        continuous = bool(strtobool(lat_maneuver.attrib.get('continuous', "false")))
-                                        freespace = bool(strtobool(lat_maneuver.attrib.get('freespace', "false")))
-                                        distance = ParameterRef(lat_maneuver.attrib.get('distance', float("inf")))
-                                        constraints = lat_maneuver.find('DynamicConstraints')
-                                        max_speed = constraints.attrib.get('maxSpeed',
-                                                                           None) if constraints is not None else None
-                                        relative_actor = None
-                                        relative_actor_name = lat_maneuver.attrib.get('entityRef', None)
-                                        for _actor in actor_list:
-                                            if _actor is not None and 'role_name' in _actor.attributes:
-                                                if relative_actor_name == _actor.attributes['role_name']:
-                                                    relative_actor = _actor
-                                                    break
-                                        if relative_actor is None:
-                                            raise AttributeError(
-                                                "Cannot find actor '{}' for condition".format(relative_actor_name))
-                                        atomic = ChangeLateralDistance(carla_actor, distance, relative_actor,
-                                                                       continuous=continuous, freespace=freespace,
-                                                                       name=maneuver_name)
-
-                                elif private_action.find('RoutingAction') is not None:
-                                    private_action = private_action.find('RoutingAction')
-                                    if private_action.find('AssignRouteAction') is not None:
-                                        route_action = private_action.find('AssignRouteAction')
-                                        waypoints = OpenScenarioParser.get_route(route_action, self.config.catalogs)
-                                        atomic = ChangeActorWaypoints(carla_actor, waypoints=waypoints,
-                                                                      name="AssignRouteAction")
-                                    elif private_action.find('FollowTrajectoryAction') is not None:
-                                        trajectory_action = private_action.find('FollowTrajectoryAction')
-                                        waypoints, times = OpenScenarioParser.get_trajectory(trajectory_action,
-                                                                                             self.config.catalogs)
-                                        atomic = ChangeActorWaypoints(carla_actor, waypoints=list(
-                                            zip(waypoints, ['shortest'] * len(waypoints))),
-                                                                      times=times, name="FollowTrajectoryAction")
-                                    elif private_action.find('AcquirePositionAction') is not None:
-                                        route_action = private_action.find('AcquirePositionAction')
-                                        osc_position = route_action.find('Position')
-                                        waypoints = [(osc_position, 'fastest')]
-                                        atomic = ChangeActorWaypoints(carla_actor, waypoints=waypoints,
-                                                                      name="AcquirePositionAction")
-
-                    if controller_atomic is None:
-                        controller_atomic = ChangeActorControl(carla_actor, control_py_module=None, args={})
-                    actor_init_behavior.add_child(controller_atomic)
-                    if atomic is not None:
-                        actor_init_behavior.add_child(atomic)
-
-                    if actor.speed > 0:
-                        actor_init_behavior.add_child(ChangeActorTargetSpeed(carla_actor, actor.speed, init_speed=True))
-
-                    init_behavior.add_child(actor_init_behavior)
-                    break
-
-        return init_behavior
-
-    def _create_behavior(self):
-        """
-        Basic behavior do nothing, i.e. Idle
-        """
-
-        stories_behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                                                        name="OSCStories")
-        joint_actor_list = self.other_actors + self.ego_vehicles + [None]
-
-        for story in self.config.stories:
-            story_name = story.get("name")
-            story_behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                                                          name=story_name)
-            for act in story.iter("Act"):
-
-                act_sequence = py_trees.composites.Sequence(
-                    name="Act StartConditions and behaviours")
-
-                start_conditions = py_trees.composites.Parallel(
-                    policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="StartConditions Group")
-
-                parallel_behavior = py_trees.composites.Parallel(
-                    policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="Maneuver + EndConditions Group")
-
-                parallel_sequences = py_trees.composites.Parallel(
-                    policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Maneuvers")
-
-                for sequence in act.iter("ManeuverGroup"):
-                    sequence_behavior = py_trees.composites.Sequence(name=sequence.attrib.get('name'))
-                    repetitions = sequence.attrib.get('maximumExecutionCount', 1)
-
-                    for _ in range(int(repetitions)):
-
-                        actor_ids = []
-                        for actor in sequence.iter("Actors"):
-                            for entity in actor.iter("EntityRef"):
-                                entity_name = entity.attrib.get('entityRef', None)
-                                for k, _ in enumerate(joint_actor_list):
-                                    if (joint_actor_list[k] and
-                                            entity_name == joint_actor_list[k].attributes['role_name']):
-                                        actor_ids.append(k)
-                                        break
-
-                        if not actor_ids:
-                            print("Warning: Maneuvergroup {} does not use reference actors!".format(
-                                sequence.attrib.get('name')))
-                            actor_ids.append(len(joint_actor_list) - 1)
-
-                    # Collect catalog reference maneuvers in order to process them at the same time as normal maneuvers
-                        catalog_maneuver_list = []
-                        for catalog_reference in sequence.iter("CatalogReference"):
-                            catalog_maneuver = OpenScenarioParser.get_catalog_entry(self.config.catalogs,
-                                                                                    catalog_reference)
-                            catalog_maneuver_list.append(catalog_maneuver)
-                        all_maneuvers = itertools.chain(iter(catalog_maneuver_list), sequence.iter("Maneuver"))
-                        single_sequence_iteration = py_trees.composites.Parallel(
-                            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name=sequence_behavior.name)
-                        for maneuver in all_maneuvers:  # Iterates through both CatalogReferences and Maneuvers
-                            maneuver_parallel = py_trees.composites.Parallel(
-                                policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
-                                name="Maneuver " + maneuver.attrib.get('name'))
-                            for event in maneuver.iter("Event"):
-                                event_sequence = py_trees.composites.Sequence(
-                                    name="Event " + event.attrib.get('name'))
-                                parallel_actions = py_trees.composites.Parallel(
-                                    policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Actions")
-                                for child in event.iter():
-                                    if child.tag == "Action":
-                                        for actor_id in actor_ids:
-                                            maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
-                                                child, joint_actor_list[actor_id],
-                                                joint_actor_list, self.config.catalogs, self.config)
-                                            maneuver_behavior = StoryElementStatusToBlackboard(
-                                                maneuver_behavior, "ACTION", child.attrib.get('name'))
-                                            parallel_actions.add_child(
-                                                oneshot_with_check(variable_name=  # See note in get_xml_path
-                                                                   get_xml_path(story, sequence) + '>' + \
-                                                                   get_xml_path(maneuver, child) + '>' + \
-                                                                   str(actor_id),
-                                                                   behaviour=maneuver_behavior))
-
-                                    if child.tag == "StartTrigger":
-                                        # There is always one StartConditions block per Event
-                                        parallel_condition_groups = self._create_condition_container(
-                                            child, story, "Parallel Condition Groups", sequence, maneuver)
-                                        event_sequence.add_child(
-                                            parallel_condition_groups)
-
-                                parallel_actions = StoryElementStatusToBlackboard(
-                                    parallel_actions, "EVENT", event.attrib.get('name'))
-                                event_sequence.add_child(parallel_actions)
-                                maneuver_parallel.add_child(
-                                    oneshot_with_check(variable_name=get_xml_path(story, sequence) + '>' +
-                                                       get_xml_path(maneuver, event),  # See get_xml_path
-                                                       behaviour=event_sequence))
-                            maneuver_parallel = StoryElementStatusToBlackboard(
-                                maneuver_parallel, "MANEUVER", maneuver.attrib.get('name'))
-                            single_sequence_iteration.add_child(
-                                oneshot_with_check(variable_name=get_xml_path(story, sequence) + '>' +
-                                                   maneuver.attrib.get('name'),  # See get_xml_path
-                                                   behaviour=maneuver_parallel))
-
-                        # OpenSCENARIO refers to Sequences as Scenes in this instance
-                        single_sequence_iteration = StoryElementStatusToBlackboard(
-                            single_sequence_iteration, "SCENE", sequence.attrib.get('name'))
-                        single_sequence_iteration = repeatable_behavior(
-                            single_sequence_iteration, get_xml_path(story, sequence))
-
-                        sequence_behavior.add_child(single_sequence_iteration)
-
-                    if sequence_behavior.children:
-                        parallel_sequences.add_child(
-                            oneshot_with_check(variable_name=get_xml_path(story, sequence),
-                                               behaviour=sequence_behavior))
-
-                if parallel_sequences.children:
-                    parallel_sequences = StoryElementStatusToBlackboard(
-                        parallel_sequences, "ACT", act.attrib.get('name'))
-                    parallel_behavior.add_child(parallel_sequences)
-
-                start_triggers = act.find("StartTrigger")
-                if list(start_triggers) is not None:
-                    for start_condition in start_triggers:
-                        parallel_start_criteria = self._create_condition_container(start_condition,
-                                                                                   story,
-                                                                                   "StartConditions")
-                        if parallel_start_criteria.children:
-                            start_conditions.add_child(parallel_start_criteria)
-                end_triggers = act.find("StopTrigger")
-                if end_triggers is not None and list(end_triggers) is not None:
-                    for end_condition in end_triggers:
-                        parallel_end_criteria = self._create_condition_container(
-                            end_condition, story, "EndConditions", success_on_all=False)
-                        if parallel_end_criteria.children:
-                            parallel_behavior.add_child(parallel_end_criteria)
-
-                if start_conditions.children:
-                    act_sequence.add_child(start_conditions)
-                if parallel_behavior.children:
-                    act_sequence.add_child(parallel_behavior)
-
-                if act_sequence.children:
-                    story_behavior.add_child(act_sequence)
-
-            stories_behavior.add_child(oneshot_with_check(variable_name=get_xml_path(story, story) + '>' +
-                                                          story_name,  # See get_xml_path
-                                                          behaviour=story_behavior))
-
-        # Build behavior tree
-        behavior = py_trees.composites.Parallel(
-            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="behavior")
-
-        init_parameters = self._initialize_parameters()
-        if init_parameters is not None:
-            behavior.add_child(oneshot_with_check(variable_name="InitialParameterSettings", behaviour=init_parameters))
-
-        env_behavior = self._create_environment_behavior()
-        if env_behavior is not None:
-            behavior.add_child(oneshot_with_check(variable_name="InitialEnvironmentSettings", behaviour=env_behavior))
-
-        init_behavior = self._create_init_behavior()
-        if init_behavior is not None:
-            behavior.add_child(oneshot_with_check(variable_name="InitialActorSettings", behaviour=init_behavior))
-
-        behavior.add_child(stories_behavior)
-
-        return behavior
-
-    def _create_weather_behavior(self):
-        """
-        Sets the osc weather behavior, which will monitor other behaviors, changing the weather
-        """
-        return OSCWeatherBehavior()
-
-    def _create_condition_container(self, node, story, name='Conditions Group', sequence=None,
-                                    maneuver=None, success_on_all=True):
-        """
-        This is a generic function to handle conditions utilising ConditionGroups
-        Each ConditionGroup is represented as a Sequence of Conditions
-        The ConditionGroups are grouped under a SUCCESS_ON_ONE Parallel
-        """
-
-        parallel_condition_groups = py_trees.composites.Parallel(name,
-                                                                 policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
-
-        for condition_group in node.iter("ConditionGroup"):
-            if success_on_all:
-                condition_group_sequence = py_trees.composites.Parallel(
-                    name="Condition Group", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL)
-            else:
-                condition_group_sequence = py_trees.composites.Parallel(
-                    name="Condition Group", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
-            for condition in condition_group.iter("Condition"):
-                criterion = OpenScenarioParser.convert_condition_to_atomic(
-                    condition, self.other_actors + self.ego_vehicles)
-                if sequence is not None and maneuver is not None:
-                    xml_path = get_xml_path(story, sequence) + '>' + \
-                        get_xml_path(maneuver, condition)  # See note in get_xml_path
-                else:
-                    xml_path = get_xml_path(story, condition)
-                criterion = oneshot_with_check(variable_name=xml_path, behaviour=criterion)
-                condition_group_sequence.add_child(criterion)
-
-            if condition_group_sequence.children:
-                parallel_condition_groups.add_child(condition_group_sequence)
-
-        return parallel_condition_groups
-
-    def _create_test_criteria(self):
-        """
-        A list of all test criteria will be created that is later used
-        in parallel behavior tree.
-        """
-        parallel_criteria = py_trees.composites.Parallel("EndConditions (Criteria Group)",
-                                                         policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
-
-        criteria = []
-        for endcondition in self.config.storyboard.iter("StopTrigger"):
-            for condition in endcondition.iter("Condition"):
-                if condition.attrib.get('name').startswith('criteria_'):
-                    criteria.append(condition)
-
-        for condition in criteria:
-            criterion = OpenScenarioParser.convert_condition_to_atomic(condition, self.ego_vehicles)
-            parallel_criteria.add_child(criterion)
-
-        return parallel_criteria
-
-    def __del__(self):
-        """
-        Remove all actors upon deletion
-        """
-        self.remove_all_actors()
-
-    def _initialize_actors(self, config):
-        """
-        Override the superclass method to initialize other actors
-        """
-        if config.other_actors:
-            for global_action in self.config.init.find("Actions").iter("GlobalAction"):
-                if global_action.find("EntityAction") is not None:
-                    entity_action = global_action.find("EntityAction")
-                    entity_ref = entity_action.attrib.get("entityRef")
-                    if entity_action.find('AddEntityAction') is not None:
-                        position = entity_action.find('AddEntityAction').find("Position")
-                        actor_transform = OpenScenarioParser.convert_position_to_transform(
-                            position, actor_list=config.other_actors + config.ego_vehicles)
-                        for actor in config.other_actors:
-                            if actor.rolename == entity_ref:
-                                actor.transform = actor_transform
-                    elif entity_action.find('DeleteEntityAction') is not None:
-                        for actor in config.other_actors:
-                            if actor.rolename == entity_ref:
-                                config.other_actors.remove(actor)
-
-            new_actors = CarlaDataProvider.request_new_actors(config.other_actors)
-            if not new_actors:
-                raise Exception("Error: Unable to add actors")
-            for new_actor in new_actors:
-                self.other_actors.append(new_actor)

From 3990ca7f8668d4fb311db8a682a0d61aec79e7e4 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 11 Jan 2026 10:43:46 +0000
Subject: [PATCH 003/133] added loop to spawn ego for redunancy

---
 cawsr.py                      | 22 +++++++++++++++++-----
 srunner/tools/route_parser.py |  3 +++
 2 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index eb952c1..b92be63 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -161,11 +161,23 @@ def run_scenario(
         # update the world
         CarlaDataProvider.set_world(self.carla_world)
 
-        logger.info("Spawning ego...")
-        ego = EgoVehicle(env_config)
-        actor = ego.spawn()
-        self.ego_vehicles.append(actor)
-        logger.info(f"Spawned ego with id: {actor.id}")
+        # attempt to spawn the ego 3 times for redundancy
+        max_attempts = 3
+        for attempt in range(max_attempts):
+            try:
+                logger.info("Spawning ego...")
+                ego = EgoVehicle(env_config)
+                actor = ego.spawn()
+                self.ego_vehicles.append(actor)
+                logger.info(f"Spawned ego with id: {actor.id}")
+            except Exception as e:
+                logger.error(f"Failed to spawn ego on attempt {attempt + 1}: {e}")
+                if attempt == max_attempts - 1:
+                    logger.error(
+                        "Failed to spawn ego: Terminating scenario. This is most likely an issue with CARLA"
+                    )
+                    raise
+                time.sleep(2)
 
         # client must tick to spawn actors
         self._tick_carla()
diff --git a/srunner/tools/route_parser.py b/srunner/tools/route_parser.py
index f61942e..c481572 100644
--- a/srunner/tools/route_parser.py
+++ b/srunner/tools/route_parser.py
@@ -147,6 +147,9 @@ def is_scenario_at_route(trigger_transform, route):
         """
         Check if the scenario is affecting the route.
         This is true if the trigger position is very close to any route point
+
+        TODO:
+            - Add logging to inform if a scenario is not part of the route (debug)
         """
 
         def is_trigger_close(trigger_transform, route_transform):

From 57b56c3f15d6ea490d355b0ed99a2bbffb8a23d4 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 11 Jan 2026 11:13:54 +0000
Subject: [PATCH 004/133] bug fix; exit loop on successful ego spawn

---
 cawsr.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cawsr.py b/cawsr.py
index b92be63..488f055 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -170,6 +170,7 @@ def run_scenario(
                 actor = ego.spawn()
                 self.ego_vehicles.append(actor)
                 logger.info(f"Spawned ego with id: {actor.id}")
+                break  # exit loop if successful
             except Exception as e:
                 logger.error(f"Failed to spawn ego on attempt {attempt + 1}: {e}")
                 if attempt == max_attempts - 1:

From f1bfbd3692f379fd97abb214323b99e117c29c16 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 11 Jan 2026 14:39:47 +0000
Subject: [PATCH 005/133] fixed bug with autoware double restarting

---
 cawsr.py                                             | 1 +
 srunner/autoagents/autoware_agent.py                 | 4 +++-
 srunner/scenarioconfigs/environment_configuration.py | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index 488f055..856f980 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -433,6 +433,7 @@ def _cawsr_process(
         else:
             seed = 0
 
+        env_config.iteration = run
         scenario_process = multiprocessing.Process(
             target=self.run_scenario,  # need to catch connection exception
             args=(
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 5692b91..a6989d6 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -56,7 +56,9 @@ def setup(self, config: EnvironmentConfig) -> None:
         self.carla_interface = InitializeInterface(self.config, self._node)
 
         self.state_node = state_node.StateNode(self.autoware_state, self._node_state)
-        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
+        if config.iteration == 1:
+            # only reset autoware on the first run
+            self.state_node.reset_autoware(self.config.town, self.config.ego_name)
 
         self.route_node = route_node.RouteNode(self.autoware_state, self._node_state)
         self.autoware_node = autoware_node.AutowareNode(
diff --git a/srunner/scenarioconfigs/environment_configuration.py b/srunner/scenarioconfigs/environment_configuration.py
index 28a3548..74c0495 100644
--- a/srunner/scenarioconfigs/environment_configuration.py
+++ b/srunner/scenarioconfigs/environment_configuration.py
@@ -26,3 +26,4 @@ def __init__(self) -> None:
         self.ego_spawn: carla.Transform | None = None
         self.sensor_config: list[DefaultSensor] = []
         self.route_id: int = 0
+        self.iteration: int = 0

From bc504e30f92afbec1c78266c8434a3206a57b311 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Tue, 13 Jan 2026 13:44:34 +0000
Subject: [PATCH 006/133] updated JOSS paper

---
 paper.md  |  22 +++++++++++++++++++---
 paper.pdf | Bin 743492 -> 747399 bytes
 2 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/paper.md b/paper.md
index ab46dfb..bb69de3 100644
--- a/paper.md
+++ b/paper.md
@@ -67,10 +67,21 @@ This facilitates a wide range of verification strategies based on common metrics
 Lastly, it is worth noting that simulators can often introduce unintended nondeterminism, which leads to inconsistent test results [@9793395; @osikowicz2025empirically].
 Therefore, `CAWSR` is designed to minimise such nondeterminism throughout the evaluation pipeline.
 
+# Research Impact
 
-# Tool Overview
+CAWSR is the first verification tool of its kind to bridge the gap between CARLA and Autoware, intended as a modern replacement for the Apollo/LGSVL workflow. Designed for ease of use and reproducibility, it enables researchers to build and evaluate scenario generation algorithms on a state-of-the-art simulator platform with a modern, industry-grade ADS system.
 
-`CAWSR` is a fully synchronous testing framework that directly integrates the CARLA simulator, Scenario Runner (as the scenario executor), and Autoware (as the System Under Test) to facilitate autonomous driving testing research. The tool is distributed as a containerized deployment using Docker and currently supports two modes of operation:
+A primary contribution of this tool is the unification of evaluation standards. Industry-grade AD systems operate in disparate evaluation environments when compared to academic agents, which introduce unintended nondeterminism[@9793395; @osikowicz2025empirically]. Built on the unified CARLA platform, CAWSR enables the execution of modular industry systems, facilitating direct comparison to academic agents (end-to-end models) under identical conditions.
+
+Furthermore, CAWSR offers a flexible programmatic interface for search-based testing and verification of Autoware through scenario generation algorithms. This enables researchers to design verification strategies based on various metrics extracted from scenario execution, such as the CARLA Leaderboard's driving score.
+
+CAWSR prioritises a streamlined deployment process for ease of use and reproducibility. By leveraging containerised deployment through Docker, the framework removes complex dependencies associated with Autoware and CARLA, simplifying the complexity of setup drastically. To support community adoption, a comprehensive set of tools and example implementations is provided, supplying the foundations for the development of new scenarios and verification strategies.
+
+
+# Software Design
+<!-- I've renamed the "Tool Overview" section since it fits quite well here, and added a few justifications.-->
+
+`CAWSR` is a fully synchronous testing framework that directly integrates the CARLA simulator, Scenario Runner (as the scenario executor), and Autoware (as the System Under Test) to facilitate autonomous driving testing research. The tool is distributed as a containerized deployment using Docker to manage complex dependencies and simplify the setup process. Currently two modes of operation are supported:
 
 1. *Scenario Generation Mode:* Enables the dynamic generation and execution of scenarios (e.g. iterative scenario generation) provided by a user-defined algorithm. This is particularly useful for assessing the performance of new simulation-based ADS testing techniques.
 2. *Benchmark Mode:* Allows the execution of a predefined set of scenario definitions provided by the user. This is useful for standardised evaluations and comparisons between different driving agents.
@@ -85,7 +96,8 @@ The evaluation pipeline is engineered to be fully synchronous, minimising uninte
 
 - JSON Parser: Translates the *scenario_definition* (see \autoref{fig:scenario_domain}) into a Behavior Tree (BT). It utilises Scenario Runner's *Atomic Behaviours* and *Atomic Conditions* as modular primitives to define discrete actions (e.g., spawning pedestrians) and logic triggers.
 
-- ScenarioManager: Orchestrates the simulation loop by evaluating the BT to update actor states and triggering CARLA simulation ticks. Execution terminates based on CARLA Leaderboard criteria [@carla_leaderboard], as summarised in \autoref{tab:termination_criteria}. Post-execution, the module calculates the Driving Score (DS) according to the official leaderboard metrics.
+<!-- David: Citing SR for added transparency, since this class is natively part of it -->
+- ScenarioManager[@carla_scenario_runner_2025]: Orchestrates the simulation loop by evaluating the BT to update actor states and triggering CARLA simulation ticks. Execution terminates based on CARLA Leaderboard criteria [@carla_leaderboard], as summarised in \autoref{tab:termination_criteria}. Post-execution, the module calculates the Driving Score (DS) according to the official leaderboard metrics.
 
 - Agent and CarlaBridge: The Agent manages the ROS2 connection to Autoware. At each timestep, the CarlaBridge [@carlaautowarebridge] transforms CARLA snapshots and sensor data into the Autoware coordinate system. Autoware processes these inputs to issue control commands, which the Agent then applies to the ego vehicle.
 
@@ -106,6 +118,10 @@ This model is based on the format introduced by Scenario Runner, facilitating su
 To summarise, `CAWSR` provides ADS testing research community an easy to use Autoware evaluation pipeline.
 We hope that this work can facilitate the evaluation of new testing approaches on a state of the art driving system.
 
+# AI Usage Disclosure
+
+<!-- David: I used AI to help explain concepts some concepts and generate short code snippets to get me started (mostly about ROS2 and networking). Is this the correct way to phrase it? -->
+Generative AI tools were used in this work solely to support high-level research concepts and structural ideas. All software implementation, including the source code, architecture, and deployment scripts, was authored entirely by the researchers without AI assistance.
 
 # Acknowledgements
 
diff --git a/paper.pdf b/paper.pdf
index e22b0dfaa6bf294fe1540f831d53bdf59223120e..39f078233516a37aebecb044b9b8cf6b0f1b2012 100644
GIT binary patch
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From 51aa4d01be3273067421c63e8f9978d304905780 Mon Sep 17 00:00:00 2001
From: Donghwan Shin <d.shin@sheffield.ac.uk>
Date: Tue, 13 Jan 2026 23:40:52 +0000
Subject: [PATCH 007/133] Research Impact Statement updated

---
 paper.md  |  12 +++++++-----
 paper.pdf | Bin 747399 -> 0 bytes
 2 files changed, 7 insertions(+), 5 deletions(-)
 delete mode 100644 paper.pdf

diff --git a/paper.md b/paper.md
index bb69de3..6ef924a 100644
--- a/paper.md
+++ b/paper.md
@@ -69,13 +69,15 @@ Therefore, `CAWSR` is designed to minimise such nondeterminism throughout the ev
 
 # Research Impact
 
-CAWSR is the first verification tool of its kind to bridge the gap between CARLA and Autoware, intended as a modern replacement for the Apollo/LGSVL workflow. Designed for ease of use and reproducibility, it enables researchers to build and evaluate scenario generation algorithms on a state-of-the-art simulator platform with a modern, industry-grade ADS system.
+`CAWSR` provides a significant research impact by bridging the gap between the widely-used CARLA simulator and the industry-grade Autoware ADS.
+It addresses a critical bottleneck in the ADS testing research community by offering a modern replacement for the outdated Apollo/LGSVL workflow, which has lacked official support since 2022.
 
-A primary contribution of this tool is the unification of evaluation standards. Industry-grade AD systems operate in disparate evaluation environments when compared to academic agents, which introduce unintended nondeterminism[@9793395; @osikowicz2025empirically]. Built on the unified CARLA platform, CAWSR enables the execution of modular industry systems, facilitating direct comparison to academic agents (end-to-end models) under identical conditions.
+It enhances research reproducibility by implementing a fully synchronous evaluation pipeline that minimises unintended nondeterminism in simulation-based testing. 
+To ensure community readiness and ease of use, it is distributed as a Docker container.
 
-Furthermore, CAWSR offers a flexible programmatic interface for search-based testing and verification of Autoware through scenario generation algorithms. This enables researchers to design verification strategies based on various metrics extracted from scenario execution, such as the CARLA Leaderboard's driving score.
+Furthermore, by adopting CARLA Leaderboard metrics, `CAWSR` enables researchers to directly compare Autoware with other state-of-the-art driving agents in the CARLA environment.
+It provides an essential foundation for the systematic evaluation of various testing approaches for ADS.
 
-CAWSR prioritises a streamlined deployment process for ease of use and reproducibility. By leveraging containerised deployment through Docker, the framework removes complex dependencies associated with Autoware and CARLA, simplifying the complexity of setup drastically. To support community adoption, a comprehensive set of tools and example implementations is provided, supplying the foundations for the development of new scenarios and verification strategies.
 
 
 # Software Design
@@ -97,7 +99,7 @@ The evaluation pipeline is engineered to be fully synchronous, minimising uninte
 - JSON Parser: Translates the *scenario_definition* (see \autoref{fig:scenario_domain}) into a Behavior Tree (BT). It utilises Scenario Runner's *Atomic Behaviours* and *Atomic Conditions* as modular primitives to define discrete actions (e.g., spawning pedestrians) and logic triggers.
 
 <!-- David: Citing SR for added transparency, since this class is natively part of it -->
-- ScenarioManager[@carla_scenario_runner_2025]: Orchestrates the simulation loop by evaluating the BT to update actor states and triggering CARLA simulation ticks. Execution terminates based on CARLA Leaderboard criteria [@carla_leaderboard], as summarised in \autoref{tab:termination_criteria}. Post-execution, the module calculates the Driving Score (DS) according to the official leaderboard metrics.
+- ScenarioManager [@carla_scenario_runner_2025]: Orchestrates the simulation loop by evaluating the BT to update actor states and triggering CARLA simulation ticks. Execution terminates based on CARLA Leaderboard criteria [@carla_leaderboard], as summarised in \autoref{tab:termination_criteria}. Post-execution, the module calculates the Driving Score (DS) according to the official leaderboard metrics.
 
 - Agent and CarlaBridge: The Agent manages the ROS2 connection to Autoware. At each timestep, the CarlaBridge [@carlaautowarebridge] transforms CARLA snapshots and sensor data into the Autoware coordinate system. Autoware processes these inputs to issue control commands, which the Agent then applies to the ego vehicle.
 
diff --git a/paper.pdf b/paper.pdf
deleted file mode 100644
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From 55431562775670194cee4ccea156d97260081815 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 15 Jan 2026 13:09:24 +0000
Subject: [PATCH 008/133] updated JOSS paper to meet new reqs

---
 paper.md  |   5 ++---
 paper.pdf | Bin 747399 -> 747380 bytes
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/paper.md b/paper.md
index bb69de3..d3c671a 100644
--- a/paper.md
+++ b/paper.md
@@ -34,7 +34,7 @@ bibliography: paper.bib
 
 # Summary
 
-`CAWSR` (**C**ARLA-**A**uto**W**are-**S**cenario **R**unner) facilitates the simulation-based testing of the open-source autonomous driving system, Autoware, within CARLA, the state-of-the-art open-source driving simulator. Building on existing tools, this project introduces a research-oriented testing framework for the execution of complex driving scenarios, as well as supporting implementation of a wide range of verification strategies.
+`CAWSR` (**C**ARLA-**A**uto**W**are-**S**cenario **R**unner) facilitates the simulation-based testing of the open-source autonomous driving system, Autoware, within CARLA, the state-of-the-art open-source driving simulator. Building on existing tools, this project introduces a research-oriented testing framework for the execution of complex driving scenarios, as well as supporting the implementation of a wide range of verification strategies.
 
 # Statement of Need
 
@@ -81,7 +81,7 @@ CAWSR prioritises a streamlined deployment process for ease of use and reproduci
 # Software Design
 <!-- I've renamed the "Tool Overview" section since it fits quite well here, and added a few justifications.-->
 
-`CAWSR` is a fully synchronous testing framework that directly integrates the CARLA simulator, Scenario Runner (as the scenario executor), and Autoware (as the System Under Test) to facilitate autonomous driving testing research. The tool is distributed as a containerized deployment using Docker to manage complex dependencies and simplify the setup process. Currently two modes of operation are supported:
+`CAWSR` is a fully synchronous testing framework that directly integrates the CARLA simulator, Scenario Runner (as the scenario executor), and Autoware (as the System Under Test) to facilitate autonomous driving testing research. The tool is distributed as a containerized deployment using Docker to manage complex dependencies and simplify the setup process. Currently, two modes of operation are supported:
 
 1. *Scenario Generation Mode:* Enables the dynamic generation and execution of scenarios (e.g. iterative scenario generation) provided by a user-defined algorithm. This is particularly useful for assessing the performance of new simulation-based ADS testing techniques.
 2. *Benchmark Mode:* Allows the execution of a predefined set of scenario definitions provided by the user. This is useful for standardised evaluations and comparisons between different driving agents.
@@ -96,7 +96,6 @@ The evaluation pipeline is engineered to be fully synchronous, minimising uninte
 
 - JSON Parser: Translates the *scenario_definition* (see \autoref{fig:scenario_domain}) into a Behavior Tree (BT). It utilises Scenario Runner's *Atomic Behaviours* and *Atomic Conditions* as modular primitives to define discrete actions (e.g., spawning pedestrians) and logic triggers.
 
-<!-- David: Citing SR for added transparency, since this class is natively part of it -->
 - ScenarioManager[@carla_scenario_runner_2025]: Orchestrates the simulation loop by evaluating the BT to update actor states and triggering CARLA simulation ticks. Execution terminates based on CARLA Leaderboard criteria [@carla_leaderboard], as summarised in \autoref{tab:termination_criteria}. Post-execution, the module calculates the Driving Score (DS) according to the official leaderboard metrics.
 
 - Agent and CarlaBridge: The Agent manages the ROS2 connection to Autoware. At each timestep, the CarlaBridge [@carlaautowarebridge] transforms CARLA snapshots and sensor data into the Autoware coordinate system. Autoware processes these inputs to issue control commands, which the Agent then applies to the ego vehicle.
diff --git a/paper.pdf b/paper.pdf
index 39f078233516a37aebecb044b9b8cf6b0f1b2012..3e71f59f82f91ba22630fdd349f7df8d3435acac 100644
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z@XY(G##&D%K_LF4soadqf(a8ZkefYHtf}~Ie31=KZr^6BDv=*KCMcB(o@Q7;xQZlJ
z^j4q382v$Dq(tY|m&v|!>G+`Ix`#MBmS%3U7}8#{$aR~xVd{2AYhgs(rmLnMH8mo$
zo<QBw`Bg52F`60KOLfAd+_Pw16kf;FV`yVYR$ax$=Ayr@v1gR~cD5t4k_^Vb_Dw9^
zV=%LZ$$3f%wzU&&1aVVf<t#9=HN7EfWQ-_8UppcE2jYJq{Ri@Yp!^5wf1v#bdh4|l
zhLjB!K%WmF1`rh!5HW@zOk<EiYUeQUTWw}B3=lE@Uj`Y3VetPi&z#2)_+Q#8HIG4#
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J6}6Nw{}0@$)>i-k


From 9cdc42928e0fafe353f69489139c65ac8a4376db Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 24 Jan 2026 14:27:13 +0000
Subject: [PATCH 009/133] added route visualisation in CARLA

---
 cawsr.py                                      |  7 +++-
 .../autoware_carla_interface/carla_ros.py     |  4 +++
 srunner/tools/route_visualisation.py          | 33 +++++++++++++++++++
 3 files changed, 43 insertions(+), 1 deletion(-)
 create mode 100644 srunner/tools/route_visualisation.py

diff --git a/cawsr.py b/cawsr.py
index 856f980..3e7bbf3 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -37,6 +37,7 @@
 from srunner.scenarioconfigs.route_scenario_configuration import (
     RouteScenarioConfiguration,
 )
+from srunner.tools.route_visualisation import visualise_route
 from srunner.tools import route_manipulation
 from srunner.objects.ego_vehicle import EgoVehicle
 from srunner.tools.log import LogUtil
@@ -207,6 +208,9 @@ def run_scenario(
         )
         route_config.agent.set_global_plan(gps_route, route)  # set agent route
 
+        # visualise the route in CARLA
+        visualise_route(route)
+
         ego.prepare_ego(route[0][0])  # set location to first waypoint
 
         # allow the agent X ticks to initialize sensors and set the route
@@ -460,11 +464,12 @@ def _cawsr_process(
         self.results_manager.cleanup_xml()
 
         # copy over the recording from CARLA container
-        time.sleep(1)  # ensure file is written
+        time.sleep(1)  # ensure file is finished writing
         CARLAManager.fetch_file(
             "/home/carla/recording.log",
             self.results_manager.last_scenario,
         )
+        time.sleep(1)  # allow some time for docker to copy it over
 
         # fetch execution status of the scenario (failure or success)
         status = result["status"]
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 398f759..93f0453 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -137,6 +137,10 @@ def __init__(self, node):
                 self.pub_camera_info = self.ros2_node.create_publisher(
                     CameraInfo, "/sensing/camera/traffic_light/camera_info", 1
                 )
+
+                # self.pub_camera_yolo_info = self.ros2_node.create_publisher(
+                #    CameraInfo, "/sensing/camera/0/camera_info", 1
+                # )
             elif sensor["type"] == "sensor.lidar.ray_cast":
                 if sensor["id"] in self.sensor_frequencies:
                     self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher(
diff --git a/srunner/tools/route_visualisation.py b/srunner/tools/route_visualisation.py
new file mode 100644
index 0000000..40bee65
--- /dev/null
+++ b/srunner/tools/route_visualisation.py
@@ -0,0 +1,33 @@
+from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
+import carla
+
+
+def visualise_route(route: list[carla.Location], lifetime=600):
+    """
+    Visualises the given route using a simple text-based representation.
+
+    Args:
+        route ([carla.Location]): A list of coordinates (carla.Location) representing the route.
+        lifetime (int): Lifetime of waypoints
+    """
+
+    world_debug = CarlaDataProvider.get_world().debug
+
+    line_color = carla.Color(r=255, g=0, b=0)
+    waypoint_color = carla.Color(r=0, g=0, b=255)
+
+    for waypoint in range(len(route) - 1):
+        begin = route[waypoint]
+        end = route[waypoint + 1]
+
+        world_debug.draw_line(
+            begin=begin, end=end, thickness=0.5, color=line_color, life_time=lifetime
+        )
+        world_debug.draw_point(
+            location=begin, size=0.1, color=waypoint_color, life_time=lifetime
+        )
+
+    # draw final waypoint
+    world_debug.draw_point(
+        location=route[-1], size=0.1, color=waypoint, life_time=lifetime
+    )

From e1d29a1594e738f568ff2e2bb24c66da99550bed Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 24 Jan 2026 14:47:04 +0000
Subject: [PATCH 010/133] fixed incorrect call to draw_line()

---
 srunner/tools/route_visualisation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/srunner/tools/route_visualisation.py b/srunner/tools/route_visualisation.py
index 40bee65..c7e8f7b 100644
--- a/srunner/tools/route_visualisation.py
+++ b/srunner/tools/route_visualisation.py
@@ -17,8 +17,8 @@ def visualise_route(route: list[carla.Location], lifetime=600):
     waypoint_color = carla.Color(r=0, g=0, b=255)
 
     for waypoint in range(len(route) - 1):
-        begin = route[waypoint]
-        end = route[waypoint + 1]
+        begin = route[waypoint].location
+        end = route[waypoint + 1].location
 
         world_debug.draw_line(
             begin=begin, end=end, thickness=0.5, color=line_color, life_time=lifetime

From 8aef6af48e105095a9d5240125da6becc8aa7dad Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 24 Jan 2026 14:56:03 +0000
Subject: [PATCH 011/133] fixed passing tuple instead of carla.Transform

---
 cawsr.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index 3e7bbf3..a1489e2 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -209,7 +209,7 @@ def run_scenario(
         route_config.agent.set_global_plan(gps_route, route)  # set agent route
 
         # visualise the route in CARLA
-        visualise_route(route)
+        visualise_route([waypoint[0] for waypoint in route])
 
         ego.prepare_ego(route[0][0])  # set location to first waypoint
 

From 51abce86e2856dd61b5188da2bfa37ae76340fc5 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 24 Jan 2026 15:23:19 +0000
Subject: [PATCH 012/133] fixed bug with incorrect call to draw_point()

---
 srunner/tools/route_visualisation.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/srunner/tools/route_visualisation.py b/srunner/tools/route_visualisation.py
index c7e8f7b..105e317 100644
--- a/srunner/tools/route_visualisation.py
+++ b/srunner/tools/route_visualisation.py
@@ -29,5 +29,5 @@ def visualise_route(route: list[carla.Location], lifetime=600):
 
     # draw final waypoint
     world_debug.draw_point(
-        location=route[-1], size=0.1, color=waypoint, life_time=lifetime
+        location=route[-1].location, size=0.1, color=waypoint, life_time=lifetime
     )

From a5d7a40a6832059fd196d4374fe982f13b1c30a9 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 24 Jan 2026 15:30:45 +0000
Subject: [PATCH 013/133] typo

---
 srunner/tools/route_visualisation.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/srunner/tools/route_visualisation.py b/srunner/tools/route_visualisation.py
index 105e317..ea6c566 100644
--- a/srunner/tools/route_visualisation.py
+++ b/srunner/tools/route_visualisation.py
@@ -29,5 +29,5 @@ def visualise_route(route: list[carla.Location], lifetime=600):
 
     # draw final waypoint
     world_debug.draw_point(
-        location=route[-1].location, size=0.1, color=waypoint, life_time=lifetime
+        location=route[-1].location, size=0.1, color=waypoint_color, life_time=lifetime
     )

From 09fea0d31f9d9c3e0dacea87eaae6924e8d59e99 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 24 Jan 2026 16:00:26 +0000
Subject: [PATCH 014/133] adjust route visualiser line color to not interfere
 with traffic light detection

---
 srunner/tools/route_visualisation.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/srunner/tools/route_visualisation.py b/srunner/tools/route_visualisation.py
index ea6c566..45f1b86 100644
--- a/srunner/tools/route_visualisation.py
+++ b/srunner/tools/route_visualisation.py
@@ -13,15 +13,15 @@ def visualise_route(route: list[carla.Location], lifetime=600):
 
     world_debug = CarlaDataProvider.get_world().debug
 
-    line_color = carla.Color(r=255, g=0, b=0)
-    waypoint_color = carla.Color(r=0, g=0, b=255)
+    line_color = carla.Color(r=0, g=0, b=60)
+    waypoint_color = carla.Color(r=0, g=0, b=80)
 
     for waypoint in range(len(route) - 1):
         begin = route[waypoint].location
         end = route[waypoint + 1].location
 
         world_debug.draw_line(
-            begin=begin, end=end, thickness=0.5, color=line_color, life_time=lifetime
+            begin=begin, end=end, thickness=0.02, color=line_color, life_time=lifetime
         )
         world_debug.draw_point(
             location=begin, size=0.1, color=waypoint_color, life_time=lifetime
@@ -29,5 +29,5 @@ def visualise_route(route: list[carla.Location], lifetime=600):
 
     # draw final waypoint
     world_debug.draw_point(
-        location=route[-1].location, size=0.1, color=waypoint_color, life_time=lifetime
+        location=route[-1].location, size=0.05, color=waypoint_color, life_time=lifetime
     )

From 15fd35485c909296e719bb9461b795701e63b100 Mon Sep 17 00:00:00 2001
From: David Gasinski <118130264+david-gasinski@users.noreply.github.com>
Date: Wed, 28 Jan 2026 16:47:35 +0000
Subject: [PATCH 015/133] Update README with GPU compatibility details

Added information about GPU compatibility for CAWSR.
---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index d9e8dd3..34ec30f 100644
--- a/README.md
+++ b/README.md
@@ -45,6 +45,7 @@ Running CAWSR
 
 CAWSR can both be ran `locally` or `distributed`. Due to the high-spec requirements, it is recommended to run distributed if you do not meet the following minimum specs:
 - At least **10GB** VRAM and a modern GPU (2080 ti or newer)
+    - We currently supports 20 and 30 series GPUs. Compatibility with the 40 series is current WIP.
 - At least **32GB** RAM
 - A modern Intel or AMD CPU with at least 8 cores.
 

From 9f3ceab07d369519311704ca869ed06143875dcd Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 31 Jan 2026 12:13:12 +0000
Subject: [PATCH 016/133] added code to force sensors to tick in carla at the
 same rate as autoware

---
 srunner/autoagents/autoware_agent.py          |   1 -
 .../autoware_carla_interface/carla_ros.py     |  26 +-
 .../modules/carla_wrapper.py                  |  11 +-
 .../objects/sensors.json                      |  12 +-
 .../scenarioatomics/atomic_criteria.py        | 994 ++++++++++++------
 srunner/tools/route_visualisation.py          |  11 +-
 6 files changed, 731 insertions(+), 324 deletions(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index a6989d6..7169b21 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -94,7 +94,6 @@ def set_route(self) -> None:
         self.goal_pose_world = self._global_plan_world_coord[-1]
         self.waypoints_world = self._global_plan_world_coord[:-1]
 
-        # autoware cannot handle many waypoints, becomes unreliable
         n_waypoints = len(self.waypoints_world)
         segment_size = int(n_waypoints / 3)
 
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 93f0453..7ff550d 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -26,7 +26,6 @@
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import PoseWithCovarianceStamped
 import numpy
-import datetime
 import pathlib
 from rosgraph_msgs.msg import Clock
 from sensor_msgs.msg import CameraInfo
@@ -54,6 +53,8 @@
     SensorInterface,
 )
 
+from tools.CARLA_manager import CARLAManager
+
 
 class carla_ros2_interface(object):
     def __init__(self, node):
@@ -80,9 +81,11 @@ def __init__(self, node):
             "pose": 2,
         }
         self.publish_prev_times = {
-            sensor: datetime.datetime.now() for sensor in self.sensor_frequencies
+            sensor: GameTime.get_time() for sensor in self.sensor_frequencies
         }
 
+        self.delta = CARLAManager.FIXED_DELTA_SECONDS  # delta in seconds
+
         self.ros2_node = node
 
         self.clock_publisher = self.ros2_node.create_publisher(Clock, "/clock", 10)
@@ -139,8 +142,9 @@ def __init__(self, node):
                 )
 
                 # self.pub_camera_yolo_info = self.ros2_node.create_publisher(
-                #    CameraInfo, "/sensing/camera/0/camera_info", 1
+                #   CameraInfo, "/sensing/camera/0/camera_info", 1
                 # )
+
             elif sensor["type"] == "sensor.lidar.ray_cast":
                 if sensor["id"] in self.sensor_frequencies:
                     self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher(
@@ -169,9 +173,9 @@ def __call__(self):
         return control
 
     def checkFrequency(self, sensor):
-        time_delta = (
-            datetime.datetime.now() - self.publish_prev_times[sensor]
-        ).microseconds / 1000000.0
+        # implement frequency check based on game time
+        time_delta = GameTime.get_time() - self.publish_prev_times[sensor]
+
         if 1.0 / time_delta >= self.sensor_frequencies[sensor]:
             return True
         return False
@@ -189,7 +193,7 @@ def lidar(self, carla_lidar_measurement, id_):
         """Transform the received lidar measurement into a ROS point cloud message."""
         if self.checkFrequency(id_):
             return
-        self.publish_prev_times[id_] = datetime.datetime.now()
+        self.publish_prev_times[id_] = GameTime.get_time()
 
         header = self.get_msg_header(frame_id="velodyne_top_changed")
         fields = [
@@ -262,7 +266,7 @@ def pose(self):
         """Transform odometry data to Pose and publish Pose with Covariance message."""
         if self.checkFrequency("pose"):
             return
-        self.publish_prev_times["pose"] = datetime.datetime.now()
+        self.publish_prev_times["pose"] = GameTime.get_time()
 
         header = self.get_msg_header(frame_id="map")
         out_pose_with_cov = PoseWithCovarianceStamped()
@@ -339,7 +343,7 @@ def camera(self, carla_camera_data):
 
         if self.checkFrequency("camera"):
             return
-        self.publish_prev_times["camera"] = datetime.datetime.now()
+        self.publish_prev_times["camera"] = GameTime.get_time()
 
         image_data_array = numpy.ndarray(
             shape=(carla_camera_data.height, carla_camera_data.width, 4),
@@ -360,7 +364,7 @@ def imu(self, carla_imu_measurement):
         """Transform a received imu measurement into a ROS Imu message and publish Imu message."""
         if self.checkFrequency("imu"):
             return
-        self.publish_prev_times["imu"] = datetime.datetime.now()
+        self.publish_prev_times["imu"] = GameTime.get_time()
 
         imu_msg = Imu()
         imu_msg.header = self.get_msg_header(frame_id="tamagawa/imu_link_changed")
@@ -420,7 +424,7 @@ def ego_status(self):
         if self.checkFrequency("status"):
             return
 
-        self.publish_prev_times["status"] = datetime.datetime.now()
+        self.publish_prev_times["status"] = GameTime.get_time()
 
         # convert velocity from cartesian to ego frame
         trans_mat = numpy.array(self.ego_actor.get_transform().get_matrix()).reshape(
diff --git a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
index 0fa4276..48a861a 100644
--- a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
+++ b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
@@ -23,6 +23,8 @@
 
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 
+logger = logging.getLogger("scenario-runner")
+
 
 # Sensor Wrapper for Agent
 class SensorReceivedNoData(Exception):
@@ -54,7 +56,7 @@ def __call__(self, data):
         elif isinstance(data, GenericMeasurement):
             self._parse_pseudo_sensor(data, self._tag)
         else:
-            logging.error("No callback method for this sensor.")
+            logger.error("No callback method for this sensor.")
 
     # Parsing CARLA physical Sensors
     def _parse_image_cb(self, image, tag):
@@ -216,6 +218,13 @@ def setup_sensors(self, vehicle, debug_mode=False):
                     yaw=sensor_spec["spawn_point"]["yaw"] + 0.0364,
                 )
 
+            bp.set_attribute(
+                "sensor_tick", str(round(1.0 / sensor_spec["publish_frequency"], 2))
+            )
+            logger.info(
+                f"Sensor {sensor_spec['id']} tick rate set to {str(round(1.0 / sensor_spec['publish_frequency'], 2))}"
+            )
+
             # create sensor
             sensor_transform = carla.Transform(sensor_location, sensor_rotation)
             sensor = CarlaDataProvider.get_world().spawn_actor(
diff --git a/srunner/autoagents/autoware_carla_interface/objects/sensors.json b/srunner/autoagents/autoware_carla_interface/objects/sensors.json
index 7103118..3b4e4b0 100644
--- a/srunner/autoagents/autoware_carla_interface/objects/sensors.json
+++ b/srunner/autoagents/autoware_carla_interface/objects/sensors.json
@@ -13,7 +13,8 @@
       },
       "image_size_x": 1920,
       "image_size_y": 1080,
-      "fov": 90.0
+      "fov": 90.0,
+      "publish_frequency": 11.0
     },
     {
       "type": "sensor.lidar.ray_cast",
@@ -32,7 +33,8 @@
       "upper_fov": 10.0,
       "lower_fov": -30.0,
       "rotation_frequency": 20,
-      "noise_stddev": 0.0
+      "noise_stddev": 0.0,
+      "publish_frequency": 11.0
     },
     {
       "type": "sensor.other.gnss",
@@ -44,7 +46,8 @@
         "roll": 0.0,
         "pitch": 0.0,
         "yaw": 0.0
-      }
+      },
+      "publish_frequency": 2.0
     },
     {
       "type": "sensor.other.imu",
@@ -56,7 +59,8 @@
         "roll": 0.0,
         "pitch": 0.0,
         "yaw": 0.0
-      }
+      },
+      "publish_frequency": 50.0
     }
   ]
 }
diff --git a/srunner/scenariomanager/scenarioatomics/atomic_criteria.py b/srunner/scenariomanager/scenarioatomics/atomic_criteria.py
index 45dc961..952084d 100644
--- a/srunner/scenariomanager/scenarioatomics/atomic_criteria.py
+++ b/srunner/scenariomanager/scenarioatomics/atomic_criteria.py
@@ -21,7 +21,6 @@
 import shapely.geometry
 
 import carla
-from agents.tools.misc import get_speed
 
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 from srunner.scenariomanager.timer import GameTime
@@ -29,7 +28,6 @@
 
 
 class Criterion(py_trees.behaviour.Behaviour):
-
     """
     Base class for all criteria used to evaluate a scenario for success/failure
 
@@ -46,11 +44,7 @@ class Criterion(py_trees.behaviour.Behaviour):
     - units: units of the 'actual_value'. This is a string and is used by the result writter
     """
 
-    def __init__(self,
-                 name,
-                 actor,
-                 optional=False,
-                 terminate_on_failure=False):
+    def __init__(self, name, actor, optional=False, terminate_on_failure=False):
         super(Criterion, self).__init__(name)
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
 
@@ -58,7 +52,9 @@ def __init__(self,
         self.actor = actor
         self.optional = optional
         self._terminate_on_failure = terminate_on_failure
-        self.test_status = "INIT"   # Either "INIT", "RUNNING", "SUCCESS", "ACCEPTABLE" or "FAILURE"
+        self.test_status = (
+            "INIT"  # Either "INIT", "RUNNING", "SUCCESS", "ACCEPTABLE" or "FAILURE"
+        )
 
         # Attributes to compare the current state (actual_value), with the expected ones
         self.success_value = 0
@@ -78,14 +74,16 @@ def terminate(self, new_status):
         """
         Terminate the criterion. Can be extended by the user-derived class
         """
-        if self.test_status in ('RUNNING', 'INIT'):
+        if self.test_status in ("RUNNING", "INIT"):
             self.test_status = "SUCCESS"
 
-        self.logger.debug("%s.terminate()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.terminate()[%s->%s]"
+            % (self.__class__.__name__, self.status, new_status)
+        )
 
 
 class MaxVelocityTest(Criterion):
-
     """
     This class contains an atomic test for maximum velocity.
 
@@ -95,7 +93,9 @@ class MaxVelocityTest(Criterion):
     - optional [optional]: If True, the result is not considered for an overall pass/fail result
     """
 
-    def __init__(self, actor, max_velocity, optional=False, name="CheckMaximumVelocity"):
+    def __init__(
+        self, actor, max_velocity, optional=False, name="CheckMaximumVelocity"
+    ):
         """
         Setup actor and maximum allowed velovity
         """
@@ -123,7 +123,9 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -141,7 +143,14 @@ class DrivenDistanceTest(Criterion):
     - optional [optional]: If True, the result is not considered for an overall pass/fail result
     """
 
-    def __init__(self, actor, distance, acceptable_distance=None, optional=False, name="CheckDrivenDistance"):
+    def __init__(
+        self,
+        actor,
+        distance,
+        acceptable_distance=None,
+        optional=False,
+        name="CheckDrivenDistance",
+    ):
         """
         Setup actor
         """
@@ -177,8 +186,10 @@ def update(self):
 
         if self.actual_value > self.success_value:
             self.test_status = "SUCCESS"
-        elif (self.acceptable_value is not None and
-              self.actual_value > self.acceptable_value):
+        elif (
+            self.acceptable_value is not None
+            and self.actual_value > self.acceptable_value
+        ):
             self.test_status = "ACCEPTABLE"
         else:
             self.test_status = "RUNNING"
@@ -186,7 +197,9 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -201,7 +214,6 @@ def terminate(self, new_status):
 
 
 class AverageVelocityTest(Criterion):
-
     """
     This class contains an atomic test for average velocity.
 
@@ -214,8 +226,14 @@ class AverageVelocityTest(Criterion):
     - optional [optional]: If True, the result is not considered for an overall pass/fail result
     """
 
-    def __init__(self, actor, velocity, acceptable_velocity=None, optional=False,
-                 name="CheckAverageVelocity"):
+    def __init__(
+        self,
+        actor,
+        velocity,
+        acceptable_velocity=None,
+        optional=False,
+        name="CheckAverageVelocity",
+    ):
         """
         Setup actor and average velovity expected
         """
@@ -256,8 +274,10 @@ def update(self):
 
         if self.actual_value > self.success_value:
             self.test_status = "SUCCESS"
-        elif (self.acceptable_value is not None and
-              self.actual_value > self.acceptable_value):
+        elif (
+            self.acceptable_value is not None
+            and self.actual_value > self.acceptable_value
+        ):
             self.test_status = "ACCEPTABLE"
         else:
             self.test_status = "RUNNING"
@@ -265,7 +285,9 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -279,7 +301,6 @@ def terminate(self, new_status):
 
 
 class CollisionTest(Criterion):
-
     """
     This class contains an atomic test for collisions.
 
@@ -293,11 +314,22 @@ class CollisionTest(Criterion):
     """
 
     COLLISION_RADIUS = 5  # Two collisions that happen within this distance count as one
-    MAX_ID_TIME = 5  # Two collisions with the same id that happen within this time count as one
-    EPSILON = 0.1  # Collisions at lower this speed won't be counted as the actor's fault
-
-    def __init__(self, actor, other_actor=None, other_actor_type=None,
-                 optional=False, terminate_on_failure=False, name="CollisionTest"):
+    MAX_ID_TIME = (
+        5  # Two collisions with the same id that happen within this time count as one
+    )
+    EPSILON = (
+        0.1  # Collisions at lower this speed won't be counted as the actor's fault
+    )
+
+    def __init__(
+        self,
+        actor,
+        other_actor=None,
+        other_actor_type=None,
+        optional=False,
+        terminate_on_failure=False,
+        name="CollisionTest",
+    ):
         """
         Construction with sensor setup
         """
@@ -316,8 +348,10 @@ def initialise(self):
         """
         Creates the sensor and callback"""
         world = CarlaDataProvider.get_world()
-        blueprint = world.get_blueprint_library().find('sensor.other.collision')
-        self._collision_sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=self.actor)
+        blueprint = world.get_blueprint_library().find("sensor.other.collision")
+        self._collision_sensor = world.spawn_actor(
+            blueprint, carla.Transform(), attach_to=self.actor
+        )
         self._collision_sensor.listen(lambda event: self._count_collisions(event))
         super(CollisionTest, self).initialise()
 
@@ -342,7 +376,9 @@ def update(self):
             if elapsed_time > self.MAX_ID_TIME:
                 self._collision_id = None
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -356,7 +392,7 @@ def terminate(self, new_status):
         self._collision_sensor = None
         super(CollisionTest, self).terminate(new_status)
 
-    def _count_collisions(self, event):     # pylint: disable=too-many-return-statements
+    def _count_collisions(self, event):  # pylint: disable=too-many-return-statements
         """Update collision count"""
         actor_location = CarlaDataProvider.get_location(self.actor)
 
@@ -366,10 +402,13 @@ def _count_collisions(self, event):     # pylint: disable=too-many-return-statem
 
         if self._other_actor_type:
             if self._other_actor_type == "miscellaneous":  # Special OpenScenario case
-                if "traffic" not in event.other_actor.type_id and "static" not in event.other_actor.type_id:
+                if (
+                    "traffic" not in event.other_actor.type_id
+                    and "static" not in event.other_actor.type_id
+                ):
                     return
             elif self._other_actor_type not in event.other_actor.type_id:
-                    return
+                return
 
         # To avoid multiple counts of the same collision, filter some of them.
         if self._collision_id == event.other_actor.id:
@@ -389,33 +428,40 @@ def _count_collisions(self, event):     # pylint: disable=too-many-return-statem
 
         self._collision_time = GameTime.get_time()
         self._collision_location = actor_location
-        if event.other_actor.id != 0: # Number 0: static objects -> ignore it
+        if event.other_actor.id != 0:  # Number 0: static objects -> ignore it
             self._collision_id = event.other_actor.id
 
-        if ('static' in event.other_actor.type_id or 'traffic' in event.other_actor.type_id) \
-                and 'sidewalk' not in event.other_actor.type_id:
+        if (
+            "static" in event.other_actor.type_id
+            or "traffic" in event.other_actor.type_id
+        ) and "sidewalk" not in event.other_actor.type_id:
             actor_type = TrafficEventType.COLLISION_STATIC
-        elif 'vehicle' in event.other_actor.type_id:
+        elif "vehicle" in event.other_actor.type_id:
             actor_type = TrafficEventType.COLLISION_VEHICLE
-        elif 'walker' in event.other_actor.type_id:
+        elif "walker" in event.other_actor.type_id:
             actor_type = TrafficEventType.COLLISION_PEDESTRIAN
         else:
             return
 
-        collision_event = TrafficEvent(event_type=actor_type, frame=GameTime.get_frame())
-        collision_event.set_dict({'other_actor': event.other_actor, 'location': actor_location})
+        collision_event = TrafficEvent(
+            event_type=actor_type, frame=GameTime.get_frame()
+        )
+        collision_event.set_dict(
+            {"other_actor": event.other_actor, "location": actor_location}
+        )
         collision_event.set_message(
             "Agent collided against object with type={} and id={} at (x={}, y={}, z={})".format(
                 event.other_actor.type_id,
                 event.other_actor.id,
                 round(actor_location.x, 3),
                 round(actor_location.y, 3),
-                round(actor_location.z, 3)))
+                round(actor_location.z, 3),
+            )
+        )
         self.events.append(collision_event)
 
 
 class ActorBlockedTest(Criterion):
-
     """
     This test will fail if the actor has had its linear velocity lower than a specific value for
     a specific amount of time
@@ -426,7 +472,15 @@ class ActorBlockedTest(Criterion):
     - terminate_on_failure [optional]: If True, the complete scenario will terminate upon failure of this test
     """
 
-    def __init__(self, actor, min_speed, max_time, name="ActorBlockedTest", optional=False, terminate_on_failure=False):
+    def __init__(
+        self,
+        actor,
+        min_speed,
+        max_time,
+        name="ActorBlockedTest",
+        optional=False,
+        terminate_on_failure=False,
+    ):
         """
         Class constructor
         """
@@ -444,35 +498,46 @@ def update(self):
         new_status = py_trees.common.Status.RUNNING
 
         # Deactivate/Activate checking by blackboard message
-        active = py_trees.blackboard.Blackboard().get('AC_SwitchActorBlockedTest')
+        active = py_trees.blackboard.Blackboard().get("AC_SwitchActorBlockedTest")
         if active is not None:
             self._active = active
             self._time_last_valid_state = GameTime.get_time()
-            py_trees.blackboard.Blackboard().set("AC_SwitchActorBlockedTest", None, overwrite=True)
+            py_trees.blackboard.Blackboard().set(
+                "AC_SwitchActorBlockedTest", None, overwrite=True
+            )
 
         if self._active:
             linear_speed = CarlaDataProvider.get_velocity(self.actor)
             if linear_speed is not None:
                 if linear_speed < self._min_speed and self._time_last_valid_state:
-                    if (GameTime.get_time() - self._time_last_valid_state) > self._max_time:
+                    if (
+                        GameTime.get_time() - self._time_last_valid_state
+                    ) > self._max_time:
                         # The actor has been "blocked" for too long, save the data
                         self.test_status = "FAILURE"
 
                         vehicle_location = CarlaDataProvider.get_location(self.actor)
-                        event = TrafficEvent(event_type=TrafficEventType.VEHICLE_BLOCKED, frame=GameTime.get_frame())
-                        event.set_message('Agent got blocked at (x={}, y={}, z={})'.format(
-                            round(vehicle_location.x, 3),
-                            round(vehicle_location.y, 3),
-                            round(vehicle_location.z, 3))
+                        event = TrafficEvent(
+                            event_type=TrafficEventType.VEHICLE_BLOCKED,
+                            frame=GameTime.get_frame(),
+                        )
+                        event.set_message(
+                            "Agent got blocked at (x={}, y={}, z={})".format(
+                                round(vehicle_location.x, 3),
+                                round(vehicle_location.y, 3),
+                                round(vehicle_location.z, 3),
+                            )
                         )
-                        event.set_dict({'location': vehicle_location})
+                        event.set_dict({"location": vehicle_location})
                         self.events.append(event)
                 else:
                     self._time_last_valid_state = GameTime.get_time()
 
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
@@ -492,8 +557,10 @@ def __init__(self, actor, optional=False, name="CheckKeepLane"):
         super(KeepLaneTest, self).__init__(name, actor, optional)
 
         world = self.actor.get_world()
-        blueprint = world.get_blueprint_library().find('sensor.other.lane_invasion')
-        self._lane_sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=self.actor)
+        blueprint = world.get_blueprint_library().find("sensor.other.lane_invasion")
+        self._lane_sensor = world.spawn_actor(
+            blueprint, carla.Transform(), attach_to=self.actor
+        )
         self._lane_sensor.listen(lambda event: self._count_lane_invasion(event))
 
     def update(self):
@@ -510,7 +577,9 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -531,7 +600,6 @@ def _count_lane_invasion(self, event):
 
 
 class ReachedRegionTest(Criterion):
-
     """
     This class contains the reached region test
     The test is a success if the actor reaches a specified region
@@ -565,7 +633,8 @@ def update(self):
         in_region = False
         if self.test_status != "SUCCESS":
             in_region = (location.x > self._min_x and location.x < self._max_x) and (
-                location.y > self._min_y and location.y < self._max_y)
+                location.y > self._min_y and location.y < self._max_y
+            )
             if in_region:
                 self.test_status = "SUCCESS"
             else:
@@ -574,12 +643,13 @@ def update(self):
         if self.test_status == "SUCCESS":
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class OffRoadTest(Criterion):
-
     """
     Atomic containing a test to detect when an actor deviates from the driving lanes. This atomic can
     fail when actor has spent a specific time outside driving lanes (defined by OpenDRIVE). Simplified
@@ -594,7 +664,14 @@ class OffRoadTest(Criterion):
         terminate_on_failure (bool): If True, the atomic will fail when the duration condition has been met.
     """
 
-    def __init__(self, actor, duration=0, optional=False, terminate_on_failure=False, name="OffRoadTest"):
+    def __init__(
+        self,
+        actor,
+        duration=0,
+        optional=False,
+        terminate_on_failure=False,
+        name="OffRoadTest",
+    ):
         """
         Setup of the variables
         """
@@ -622,14 +699,9 @@ def update(self):
         current_location = CarlaDataProvider.get_location(self.actor)
 
         # Get the waypoint at the current location to see if the actor is offroad
-        drive_waypoint = self._map.get_waypoint(
-            current_location,
-            project_to_road=False
-        )
+        drive_waypoint = self._map.get_waypoint(current_location, project_to_road=False)
         park_waypoint = self._map.get_waypoint(
-            current_location,
-            project_to_road=False,
-            lane_type=carla.LaneType.Parking
+            current_location, project_to_road=False, lane_type=carla.LaneType.Parking
         )
         if drive_waypoint or park_waypoint:
             self._offroad = False
@@ -653,13 +725,14 @@ def update(self):
         if self._terminate_on_failure and self.test_status == "FAILURE":
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class EndofRoadTest(Criterion):
-
     """
     Atomic containing a test to detect when an actor has changed to a different road
 
@@ -672,7 +745,14 @@ class EndofRoadTest(Criterion):
         terminate_on_failure (bool): If True, the atomic will fail when the duration condition has been met.
     """
 
-    def __init__(self, actor, duration=0, optional=False, terminate_on_failure=False, name="EndofRoadTest"):
+    def __init__(
+        self,
+        actor,
+        duration=0,
+        optional=False,
+        terminate_on_failure=False,
+        name="EndofRoadTest",
+    ):
         """
         Setup of the variables
         """
@@ -707,7 +787,6 @@ def update(self):
         else:
             # Wait until the actor has left the road
             if self._road_id != current_waypoint.road_id or self._start_time:
-
                 # Start counting
                 if self._start_time is None:
                     self._start_time = GameTime.get_time()
@@ -721,12 +800,13 @@ def update(self):
                     self.actual_value += 1
                     return py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class OnSidewalkTest(Criterion):
-
     """
     Atomic containing a test to detect sidewalk invasions of a specific actor. This atomic can
     fail when actor has spent a specific time outside driving lanes (defined by OpenDRIVE).
@@ -740,11 +820,20 @@ class OnSidewalkTest(Criterion):
         terminate_on_failure (bool): If True, the atomic will fail when the duration condition has been met.
     """
 
-    def __init__(self, actor, duration=0, optional=False, terminate_on_failure=False, name="OnSidewalkTest"):
+    def __init__(
+        self,
+        actor,
+        duration=0,
+        optional=False,
+        terminate_on_failure=False,
+        name="OnSidewalkTest",
+    ):
         """
         Construction with sensor setup
         """
-        super(OnSidewalkTest, self).__init__(name, actor, optional, terminate_on_failure)
+        super(OnSidewalkTest, self).__init__(
+            name, actor, optional, terminate_on_failure
+        )
 
         self._map = CarlaDataProvider.get_map()
         self._onsidewalk_active = False
@@ -787,12 +876,16 @@ def update(self):
                 self._sidewalk_start_location = current_loc
 
         # Case 2) Not inside allowed zones (Driving and Parking)
-        elif current_wp.lane_type not in (carla.LaneType.Driving, carla.LaneType.Parking):
-
+        elif current_wp.lane_type not in (
+            carla.LaneType.Driving,
+            carla.LaneType.Parking,
+        ):
             # Get the vertices of the vehicle
             heading_vec = current_tra.get_forward_vector()
             heading_vec.z = 0
-            heading_vec = heading_vec / math.sqrt(math.pow(heading_vec.x, 2) + math.pow(heading_vec.y, 2))
+            heading_vec = heading_vec / math.sqrt(
+                math.pow(heading_vec.x, 2) + math.pow(heading_vec.y, 2)
+            )
             perpendicular_vec = carla.Vector3D(-heading_vec.y, heading_vec.x, 0)
 
             extent = self.actor.bounding_box.extent
@@ -802,23 +895,37 @@ def update(self):
             bbox = [
                 current_loc + carla.Location(x_boundary_vector - y_boundary_vector),
                 current_loc + carla.Location(x_boundary_vector + y_boundary_vector),
-                current_loc + carla.Location(-1 * x_boundary_vector - y_boundary_vector),
-                current_loc + carla.Location(-1 * x_boundary_vector + y_boundary_vector)]
+                current_loc
+                + carla.Location(-1 * x_boundary_vector - y_boundary_vector),
+                current_loc
+                + carla.Location(-1 * x_boundary_vector + y_boundary_vector),
+            ]
 
             bbox_wp = [
                 self._map.get_waypoint(bbox[0], lane_type=carla.LaneType.Any),
                 self._map.get_waypoint(bbox[1], lane_type=carla.LaneType.Any),
                 self._map.get_waypoint(bbox[2], lane_type=carla.LaneType.Any),
-                self._map.get_waypoint(bbox[3], lane_type=carla.LaneType.Any)]
+                self._map.get_waypoint(bbox[3], lane_type=carla.LaneType.Any),
+            ]
 
-            lane_type_list = [bbox_wp[0].lane_type, bbox_wp[1].lane_type, bbox_wp[2].lane_type, bbox_wp[3].lane_type]
+            lane_type_list = [
+                bbox_wp[0].lane_type,
+                bbox_wp[1].lane_type,
+                bbox_wp[2].lane_type,
+                bbox_wp[3].lane_type,
+            ]
 
             # Case 2.1) Not quite outside yet
-            if bbox_wp[0].lane_type == (carla.LaneType.Driving or carla.LaneType.Parking) \
-                or bbox_wp[1].lane_type == (carla.LaneType.Driving or carla.LaneType.Parking) \
-                or bbox_wp[2].lane_type == (carla.LaneType.Driving or carla.LaneType.Parking) \
-                    or bbox_wp[3].lane_type == (carla.LaneType.Driving or carla.LaneType.Parking):
-
+            if (
+                bbox_wp[0].lane_type
+                == (carla.LaneType.Driving or carla.LaneType.Parking)
+                or bbox_wp[1].lane_type
+                == (carla.LaneType.Driving or carla.LaneType.Parking)
+                or bbox_wp[2].lane_type
+                == (carla.LaneType.Driving or carla.LaneType.Parking)
+                or bbox_wp[3].lane_type
+                == (carla.LaneType.Driving or carla.LaneType.Parking)
+            ):
                 self._onsidewalk_active = False
                 self._outside_lane_active = False
 
@@ -829,11 +936,12 @@ def update(self):
                     self._sidewalk_start_location = current_loc
 
             else:
-                distance_vehicle_wp = current_loc.distance(current_wp.transform.location)
+                distance_vehicle_wp = current_loc.distance(
+                    current_wp.transform.location
+                )
 
                 # Case 2.3) Outside lane
                 if distance_vehicle_wp >= current_wp.lane_width / 2:
-
                     if not self._outside_lane_active:
                         self._outside_lane_active = True
                         self._outside_lane_start_location = current_loc
@@ -848,15 +956,15 @@ def update(self):
             # Check for false positives at junctions
             if current_wp.is_junction:
                 distance_vehicle_wp = math.sqrt(
-                    math.pow(current_wp.transform.location.x - current_loc.x, 2) +
-                    math.pow(current_wp.transform.location.y - current_loc.y, 2))
+                    math.pow(current_wp.transform.location.x - current_loc.x, 2)
+                    + math.pow(current_wp.transform.location.y - current_loc.y, 2)
+                )
 
                 if distance_vehicle_wp <= current_wp.lane_width / 2:
                     self._onsidewalk_active = False
                     self._outside_lane_active = False
                 # Else, do nothing, the waypoint is too far to consider it a correct position
             else:
-
                 self._onsidewalk_active = False
                 self._outside_lane_active = False
 
@@ -875,8 +983,12 @@ def update(self):
             self.test_status = "FAILURE"
 
         # Update the distances
-        distance_vector = CarlaDataProvider.get_location(self.actor) - self._actor_location
-        distance = math.sqrt(math.pow(distance_vector.x, 2) + math.pow(distance_vector.y, 2))
+        distance_vector = (
+            CarlaDataProvider.get_location(self.actor) - self._actor_location
+        )
+        distance = math.sqrt(
+            math.pow(distance_vector.x, 2) + math.pow(distance_vector.y, 2)
+        )
 
         if distance >= 0.02:  # Used to avoid micro-changes adding to considerable sums
             self._actor_location = CarlaDataProvider.get_location(self.actor)
@@ -889,14 +1001,22 @@ def update(self):
 
         # Register the sidewalk event
         if not self._onsidewalk_active and self._wrong_sidewalk_distance > 0:
-
             self.actual_value += 1
 
-            onsidewalk_event = TrafficEvent(event_type=TrafficEventType.ON_SIDEWALK_INFRACTION, frame=GameTime.get_frame())
+            onsidewalk_event = TrafficEvent(
+                event_type=TrafficEventType.ON_SIDEWALK_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
             self._set_event_message(
-                onsidewalk_event, self._sidewalk_start_location, self._wrong_sidewalk_distance)
+                onsidewalk_event,
+                self._sidewalk_start_location,
+                self._wrong_sidewalk_distance,
+            )
             self._set_event_dict(
-                onsidewalk_event, self._sidewalk_start_location, self._wrong_sidewalk_distance)
+                onsidewalk_event,
+                self._sidewalk_start_location,
+                self._wrong_sidewalk_distance,
+            )
 
             self._onsidewalk_active = False
             self._wrong_sidewalk_distance = 0
@@ -904,20 +1024,30 @@ def update(self):
 
         # Register the outside of a lane event
         if not self._outside_lane_active and self._wrong_outside_lane_distance > 0:
-
             self.actual_value += 1
 
-            outsidelane_event = TrafficEvent(event_type=TrafficEventType.OUTSIDE_LANE_INFRACTION, frame=GameTime.get_frame())
+            outsidelane_event = TrafficEvent(
+                event_type=TrafficEventType.OUTSIDE_LANE_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
             self._set_event_message(
-                outsidelane_event, self._outside_lane_start_location, self._wrong_outside_lane_distance)
+                outsidelane_event,
+                self._outside_lane_start_location,
+                self._wrong_outside_lane_distance,
+            )
             self._set_event_dict(
-                outsidelane_event, self._outside_lane_start_location, self._wrong_outside_lane_distance)
+                outsidelane_event,
+                self._outside_lane_start_location,
+                self._wrong_outside_lane_distance,
+            )
 
             self._outside_lane_active = False
             self._wrong_outside_lane_distance = 0
             self.events.append(outsidelane_event)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -927,14 +1057,22 @@ def terminate(self, new_status):
         """
         # If currently at a sidewalk, register the event
         if self._onsidewalk_active:
-
             self.actual_value += 1
 
-            onsidewalk_event = TrafficEvent(event_type=TrafficEventType.ON_SIDEWALK_INFRACTION, frame=GameTime.get_frame())
+            onsidewalk_event = TrafficEvent(
+                event_type=TrafficEventType.ON_SIDEWALK_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
             self._set_event_message(
-                onsidewalk_event, self._sidewalk_start_location, self._wrong_sidewalk_distance)
+                onsidewalk_event,
+                self._sidewalk_start_location,
+                self._wrong_sidewalk_distance,
+            )
             self._set_event_dict(
-                onsidewalk_event, self._sidewalk_start_location, self._wrong_sidewalk_distance)
+                onsidewalk_event,
+                self._sidewalk_start_location,
+                self._wrong_sidewalk_distance,
+            )
 
             self._onsidewalk_active = False
             self._wrong_sidewalk_distance = 0
@@ -942,14 +1080,22 @@ def terminate(self, new_status):
 
         # If currently outside of our lane, register the event
         if self._outside_lane_active:
-
             self.actual_value += 1
 
-            outsidelane_event = TrafficEvent(event_type=TrafficEventType.OUTSIDE_LANE_INFRACTION, frame=GameTime.get_frame())
+            outsidelane_event = TrafficEvent(
+                event_type=TrafficEventType.OUTSIDE_LANE_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
             self._set_event_message(
-                outsidelane_event, self._outside_lane_start_location, self._wrong_outside_lane_distance)
+                outsidelane_event,
+                self._outside_lane_start_location,
+                self._wrong_outside_lane_distance,
+            )
             self._set_event_dict(
-                outsidelane_event, self._outside_lane_start_location, self._wrong_outside_lane_distance)
+                outsidelane_event,
+                self._outside_lane_start_location,
+                self._wrong_outside_lane_distance,
+            )
 
             self._outside_lane_active = False
             self._wrong_outside_lane_distance = 0
@@ -962,27 +1108,28 @@ def _set_event_message(self, event, location, distance):
         Sets the message of the event
         """
         if event.get_type() == TrafficEventType.ON_SIDEWALK_INFRACTION:
-            message_start = 'Agent invaded the sidewalk'
+            message_start = "Agent invaded the sidewalk"
         else:
-            message_start = 'Agent went outside the lane'
+            message_start = "Agent went outside the lane"
 
         event.set_message(
-            '{} for about {} meters, starting at (x={}, y={}, z={})'.format(
+            "{} for about {} meters, starting at (x={}, y={}, z={})".format(
                 message_start,
                 round(distance, 3),
                 round(location.x, 3),
                 round(location.y, 3),
-                round(location.z, 3)))
+                round(location.z, 3),
+            )
+        )
 
     def _set_event_dict(self, event, location, distance):
         """
         Sets the dictionary of the event
         """
-        event.set_dict({'location': location, 'distance': distance})
+        event.set_dict({"location": location, "distance": distance})
 
 
 class OutsideRouteLanesTest(Criterion):
-
     """
     Atomic to detect if the vehicle is either on a sidewalk or at a wrong lane. The distance spent outside
     is computed and it is returned as a percentage of the route distance traveled.
@@ -993,10 +1140,16 @@ class OutsideRouteLanesTest(Criterion):
         optional (bool): If True, the result is not considered for an overall pass/fail result
     """
 
-    ALLOWED_OUT_DISTANCE = 0.5  # At least 0.5, due to the mini-shoulder between lanes and sidewalks
+    ALLOWED_OUT_DISTANCE = (
+        0.5  # At least 0.5, due to the mini-shoulder between lanes and sidewalks
+    )
     MAX_VEHICLE_ANGLE = 120.0  # Maximum angle between the yaw and waypoint lane
-    MAX_WAYPOINT_ANGLE = 150.0  # Maximum change between the yaw-lane angle between frames
-    WINDOWS_SIZE = 3  # Amount of additional waypoints checked (in case the first on fails)
+    MAX_WAYPOINT_ANGLE = (
+        150.0  # Maximum change between the yaw-lane angle between frames
+    )
+    WINDOWS_SIZE = (
+        3  # Amount of additional waypoints checked (in case the first on fails)
+    )
 
     def __init__(self, actor, route, optional=False, name="OutsideRouteLanesTest"):
         """
@@ -1040,20 +1193,26 @@ def update(self):
             return new_status
 
         # Deactivate / activate checking by blackboard message
-        active = py_trees.blackboard.Blackboard().get('AC_SwitchWrongDirectionTest')
+        active = py_trees.blackboard.Blackboard().get("AC_SwitchWrongDirectionTest")
         if active is not None:
             self._wrong_direction_active = active
-            py_trees.blackboard.Blackboard().set("AC_SwitchWrongDirectionTest", None, overwrite=True)
+            py_trees.blackboard.Blackboard().set(
+                "AC_SwitchWrongDirectionTest", None, overwrite=True
+            )
 
         self._is_outside_driving_lanes(location)
         self._is_at_wrong_lane(location)
 
-        if self._outside_lane_active or (self._wrong_direction_active and self._wrong_lane_active):
+        if self._outside_lane_active or (
+            self._wrong_direction_active and self._wrong_lane_active
+        ):
             self.test_status = "FAILURE"
 
         # Get the traveled distance
-        for index in range(self._current_index + 1,
-                           min(self._current_index + self.WINDOWS_SIZE + 1, self._route_length)):
+        for index in range(
+            self._current_index + 1,
+            min(self._current_index + self.WINDOWS_SIZE + 1, self._route_length),
+        ):
             # Get the dot product to know if it has passed this location
             route_transform = self._route_transforms[index]
             route_location = route_transform.location
@@ -1063,12 +1222,16 @@ def update(self):
 
             if wp_veh.dot(wp_dir) > 0:
                 # Get the distance traveled and add it to the total distance
-                prev_route_location = self._route_transforms[self._current_index].location
+                prev_route_location = self._route_transforms[
+                    self._current_index
+                ].location
                 new_dist = prev_route_location.distance(route_location)
                 self._total_distance += new_dist
 
                 # And to the wrong one if outside route lanes
-                if self._outside_lane_active or (self._wrong_direction_active and self._wrong_lane_active):
+                if self._outside_lane_active or (
+                    self._wrong_direction_active and self._wrong_lane_active
+                ):
                     self._wrong_distance += new_dist
 
                 if self._wrong_distance:
@@ -1076,7 +1239,9 @@ def update(self):
 
                 self._current_index = index
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def _set_traffic_event(self):
@@ -1084,7 +1249,10 @@ def _set_traffic_event(self):
         Creates the traffic event / updates it
         """
         if self._traffic_event is None:
-            self._traffic_event = TrafficEvent(event_type=TrafficEventType.OUTSIDE_ROUTE_LANES_INFRACTION, frame=GameTime.get_frame())
+            self._traffic_event = TrafficEvent(
+                event_type=TrafficEventType.OUTSIDE_ROUTE_LANES_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
             self.events.append(self._traffic_event)
 
         percentage = self._wrong_distance / self._total_distance * 100
@@ -1093,13 +1261,13 @@ def _set_traffic_event(self):
         self._traffic_event.set_message(
             "Agent went outside its route lanes for about {} meters "
             "({}% of the completed route)".format(
-                round(self._wrong_distance, 3),
-                round(percentage, 2)))
+                round(self._wrong_distance, 3), round(percentage, 2)
+            )
+        )
 
-        self._traffic_event.set_dict({
-            'distance': self._wrong_distance,
-            'percentage': percentage
-        })
+        self._traffic_event.set_dict(
+            {"distance": self._wrong_distance, "percentage": percentage}
+        )
 
         self._traffic_event.set_frame(GameTime.get_frame())
 
@@ -1114,7 +1282,7 @@ def _is_outside_driving_lanes(self, location):
         if parking_wp is not None:  # Some towns have no parking
             parking_distance = location.distance(parking_wp.transform.location)
         else:
-            parking_distance = float('inf')
+            parking_distance = float("inf")
 
         if driving_distance >= parking_distance:
             distance = parking_distance
@@ -1123,7 +1291,9 @@ def _is_outside_driving_lanes(self, location):
             distance = driving_distance
             lane_width = driving_wp.lane_width
 
-        self._outside_lane_active = bool(distance > (lane_width / 2 + self.ALLOWED_OUT_DISTANCE))
+        self._outside_lane_active = bool(
+            distance > (lane_width / 2 + self.ALLOWED_OUT_DISTANCE)
+        )
 
     def _is_at_wrong_lane(self, location):
         """
@@ -1137,14 +1307,15 @@ def _is_at_wrong_lane(self, location):
         if waypoint.is_junction:
             self._wrong_lane_active = False
         elif self._last_road_id != road_id or self._last_lane_id != lane_id:
-
             if self._last_ego_waypoint.is_junction:
                 # Just exited a junction, check the wp direction vs the ego's one
                 wp_yaw = waypoint.transform.rotation.yaw % 360
                 actor_yaw = self.actor.get_transform().rotation.yaw % 360
                 angle = (wp_yaw - actor_yaw) % 360
 
-                if angle < self.MAX_VEHICLE_ANGLE or angle > (360 - self.MAX_VEHICLE_ANGLE):
+                if angle < self.MAX_VEHICLE_ANGLE or angle > (
+                    360 - self.MAX_VEHICLE_ANGLE
+                ):
                     self._wrong_lane_active = False
                 else:
                     self._wrong_lane_active = True
@@ -1155,8 +1326,9 @@ def _is_at_wrong_lane(self, location):
                 wp_yaw = waypoint.transform.rotation.yaw % 360
                 angle = (last_wp_yaw - wp_yaw) % 360
 
-                if angle > self.MAX_WAYPOINT_ANGLE and angle < (360 - self.MAX_WAYPOINT_ANGLE):
-
+                if angle > self.MAX_WAYPOINT_ANGLE and angle < (
+                    360 - self.MAX_WAYPOINT_ANGLE
+                ):
                     # Is the ego vehicle going back to the lane, or going out? Take the opposite
                     self._wrong_lane_active = not bool(self._wrong_lane_active)
 
@@ -1167,7 +1339,6 @@ def _is_at_wrong_lane(self, location):
 
 
 class WrongLaneTest(Criterion):
-
     """
     This class contains an atomic test to detect invasions to wrong direction lanes.
 
@@ -1175,6 +1346,7 @@ class WrongLaneTest(Criterion):
     - actor: CARLA actor to be used for this test
     - optional [optional]: If True, the result is not considered for an overall pass/fail result
     """
+
     MAX_ALLOWED_ANGLE = 120.0
     MAX_WAYPOINT_ANGLE = 150.0
 
@@ -1209,8 +1381,10 @@ def update(self):
         current_lane_id = lane_waypoint.lane_id
         current_road_id = lane_waypoint.road_id
 
-        if (self._last_road_id != current_road_id or self._last_lane_id != current_lane_id) \
-                and not lane_waypoint.is_junction:
+        if (
+            self._last_road_id != current_road_id
+            or self._last_lane_id != current_lane_id
+        ) and not lane_waypoint.is_junction:
             next_waypoint = lane_waypoint.next(2.0)[0]
 
             if not next_waypoint:
@@ -1218,18 +1392,33 @@ def update(self):
 
             # The waypoint route direction can be considered continuous.
             # Therefore just check for a big gap in waypoint directions.
-            previous_lane_direction = self._previous_lane_waypoint.transform.get_forward_vector()
+            previous_lane_direction = (
+                self._previous_lane_waypoint.transform.get_forward_vector()
+            )
             current_lane_direction = lane_waypoint.transform.get_forward_vector()
 
-            p_lane_vector = np.array([previous_lane_direction.x, previous_lane_direction.y])
-            c_lane_vector = np.array([current_lane_direction.x, current_lane_direction.y])
+            p_lane_vector = np.array(
+                [previous_lane_direction.x, previous_lane_direction.y]
+            )
+            c_lane_vector = np.array(
+                [current_lane_direction.x, current_lane_direction.y]
+            )
 
             waypoint_angle = math.degrees(
-                math.acos(np.clip(np.dot(p_lane_vector, c_lane_vector) /
-                                  (np.linalg.norm(p_lane_vector) * np.linalg.norm(c_lane_vector)), -1.0, 1.0)))
+                math.acos(
+                    np.clip(
+                        np.dot(p_lane_vector, c_lane_vector)
+                        / (
+                            np.linalg.norm(p_lane_vector)
+                            * np.linalg.norm(c_lane_vector)
+                        ),
+                        -1.0,
+                        1.0,
+                    )
+                )
+            )
 
             if waypoint_angle > self.MAX_WAYPOINT_ANGLE and self._in_lane:
-
                 self.test_status = "FAILURE"
                 self._in_lane = False
                 self.actual_value += 1
@@ -1241,18 +1430,34 @@ def update(self):
 
             # Continuity is broken after a junction so check vehicle-lane angle instead
             if self._previous_lane_waypoint.is_junction:
-
-                vector_wp = np.array([next_waypoint.transform.location.x - lane_waypoint.transform.location.x,
-                                      next_waypoint.transform.location.y - lane_waypoint.transform.location.y])
-
-                vector_actor = np.array([math.cos(math.radians(self.actor.get_transform().rotation.yaw)),
-                                         math.sin(math.radians(self.actor.get_transform().rotation.yaw))])
+                vector_wp = np.array(
+                    [
+                        next_waypoint.transform.location.x
+                        - lane_waypoint.transform.location.x,
+                        next_waypoint.transform.location.y
+                        - lane_waypoint.transform.location.y,
+                    ]
+                )
+
+                vector_actor = np.array(
+                    [
+                        math.cos(math.radians(self.actor.get_transform().rotation.yaw)),
+                        math.sin(math.radians(self.actor.get_transform().rotation.yaw)),
+                    ]
+                )
 
                 vehicle_lane_angle = math.degrees(
-                    math.acos(np.clip(np.dot(vector_actor, vector_wp) / (np.linalg.norm(vector_wp)), -1.0, 1.0)))
+                    math.acos(
+                        np.clip(
+                            np.dot(vector_actor, vector_wp)
+                            / (np.linalg.norm(vector_wp)),
+                            -1.0,
+                            1.0,
+                        )
+                    )
+                )
 
                 if vehicle_lane_angle > self.MAX_ALLOWED_ANGLE:
-
                     self.test_status = "FAILURE"
                     self._in_lane = False
                     self.actual_value += 1
@@ -1260,9 +1465,13 @@ def update(self):
 
         # Keep adding "meters" to the counter
         distance_vector = self.actor.get_location() - self._actor_location
-        distance = math.sqrt(math.pow(distance_vector.x, 2) + math.pow(distance_vector.y, 2))
+        distance = math.sqrt(
+            math.pow(distance_vector.x, 2) + math.pow(distance_vector.y, 2)
+        )
 
-        if distance >= 0.02:  # Used to avoid micro-changes adding add to considerable sums
+        if (
+            distance >= 0.02
+        ):  # Used to avoid micro-changes adding add to considerable sums
             self._actor_location = CarlaDataProvider.get_location(self.actor)
 
             if not self._in_lane and not lane_waypoint.is_junction:
@@ -1270,12 +1479,24 @@ def update(self):
 
         # Register the event
         if self._in_lane and self._wrong_distance > 0:
-
-            wrong_way_event = TrafficEvent(event_type=TrafficEventType.WRONG_WAY_INFRACTION, frame=GameTime.get_frame())
-            self._set_event_message(wrong_way_event, self._wrong_lane_start_location,
-                                    self._wrong_distance, current_road_id, current_lane_id)
-            self._set_event_dict(wrong_way_event, self._wrong_lane_start_location,
-                                 self._wrong_distance, current_road_id, current_lane_id)
+            wrong_way_event = TrafficEvent(
+                event_type=TrafficEventType.WRONG_WAY_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
+            self._set_event_message(
+                wrong_way_event,
+                self._wrong_lane_start_location,
+                self._wrong_distance,
+                current_road_id,
+                current_lane_id,
+            )
+            self._set_event_dict(
+                wrong_way_event,
+                self._wrong_lane_start_location,
+                self._wrong_distance,
+                current_road_id,
+                current_lane_id,
+            )
 
             self.events.append(wrong_way_event)
             self._wrong_distance = 0
@@ -1285,7 +1506,9 @@ def update(self):
         self._last_road_id = current_road_id
         self._previous_lane_waypoint = lane_waypoint
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -1294,16 +1517,28 @@ def terminate(self, new_status):
         If there is currently an event running, it is registered
         """
         if not self._in_lane:
-
             lane_waypoint = self._map.get_waypoint(self.actor.get_location())
             current_lane_id = lane_waypoint.lane_id
             current_road_id = lane_waypoint.road_id
 
-            wrong_way_event = TrafficEvent(event_type=TrafficEventType.WRONG_WAY_INFRACTION, frame=GameTime.get_frame())
-            self._set_event_message(wrong_way_event, self._wrong_lane_start_location,
-                                    self._wrong_distance, current_road_id, current_lane_id)
-            self._set_event_dict(wrong_way_event, self._wrong_lane_start_location,
-                                 self._wrong_distance, current_road_id, current_lane_id)
+            wrong_way_event = TrafficEvent(
+                event_type=TrafficEventType.WRONG_WAY_INFRACTION,
+                frame=GameTime.get_frame(),
+            )
+            self._set_event_message(
+                wrong_way_event,
+                self._wrong_lane_start_location,
+                self._wrong_distance,
+                current_road_id,
+                current_lane_id,
+            )
+            self._set_event_dict(
+                wrong_way_event,
+                self._wrong_lane_start_location,
+                self._wrong_distance,
+                current_road_id,
+                current_lane_id,
+            )
 
             self._wrong_distance = 0
             self._in_lane = True
@@ -1324,21 +1559,25 @@ def _set_event_message(self, event, location, distance, road_id, lane_id):
                 round(location.y, 3),
                 round(location.z, 3),
                 road_id,
-                lane_id))
+                lane_id,
+            )
+        )
 
     def _set_event_dict(self, event, location, distance, road_id, lane_id):
         """
         Sets the dictionary of the event
         """
-        event.set_dict({
-            'location': location,
-            'distance': distance,
-            'road_id': road_id,
-            'lane_id': lane_id})
+        event.set_dict(
+            {
+                "location": location,
+                "distance": distance,
+                "road_id": road_id,
+                "lane_id": lane_id,
+            }
+        )
 
 
 class InRadiusRegionTest(Criterion):
-
     """
     The test is a success if the actor is within a given radius of a specified region
 
@@ -1348,12 +1587,11 @@ class InRadiusRegionTest(Criterion):
     """
 
     def __init__(self, actor, x, y, radius, name="InRadiusRegionTest"):
-        """
-        """
+        """ """
         super(InRadiusRegionTest, self).__init__(name, actor)
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
-        self._x = x     # pylint: disable=invalid-name
-        self._y = y     # pylint: disable=invalid-name
+        self._x = x  # pylint: disable=invalid-name
+        self._y = y  # pylint: disable=invalid-name
         self._radius = radius
 
     def update(self):
@@ -1367,10 +1605,18 @@ def update(self):
             return new_status
 
         if self.test_status != "SUCCESS":
-            in_radius = math.sqrt(((location.x - self._x)**2) + ((location.y - self._y)**2)) < self._radius
+            in_radius = (
+                math.sqrt(((location.x - self._x) ** 2) + ((location.y - self._y) ** 2))
+                < self._radius
+            )
             if in_radius:
-                route_completion_event = TrafficEvent(event_type=TrafficEventType.ROUTE_COMPLETED, frame=GameTime.get_frame())
-                route_completion_event.set_message("Destination was successfully reached")
+                route_completion_event = TrafficEvent(
+                    event_type=TrafficEventType.ROUTE_COMPLETED,
+                    frame=GameTime.get_frame(),
+                )
+                route_completion_event.set_message(
+                    "Destination was successfully reached"
+                )
                 self.events.append(route_completion_event)
                 self.test_status = "SUCCESS"
             else:
@@ -1379,13 +1625,14 @@ def update(self):
         if self.test_status == "SUCCESS":
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InRouteTest(Criterion):
-
     """
     The test is a success if the actor is never outside route. The actor can go outside of the route
     but only for a certain amount of distance
@@ -1397,13 +1644,23 @@ class InRouteTest(Criterion):
     - offroad_min: Maximum safe distance (in meters). Might eventually cause failure
     - terminate_on_failure [optional]: If True, the complete scenario will terminate upon failure of this test
     """
+
     MAX_ROUTE_PERCENTAGE = 30  # %
     WINDOWS_SIZE = 5  # Amount of additional waypoints checked
 
-    def __init__(self, actor, route, offroad_min=None, offroad_max=30, name="InRouteTest", terminate_on_failure=False):
-        """
-        """
-        super(InRouteTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure)
+    def __init__(
+        self,
+        actor,
+        route,
+        offroad_min=None,
+        offroad_max=30,
+        name="InRouteTest",
+        terminate_on_failure=False,
+    ):
+        """ """
+        super(InRouteTest, self).__init__(
+            name, actor, terminate_on_failure=terminate_on_failure
+        )
         self.units = None  # We care about whether or not it fails, no units attached
 
         self._route = route
@@ -1448,23 +1705,27 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        elif self.test_status in ('RUNNING', 'INIT'):
-
+        elif self.test_status in ("RUNNING", "INIT"):
             off_route = True
 
-            shortest_distance = float('inf')
+            shortest_distance = float("inf")
             closest_index = -1
 
             # Get the closest distance
-            for index in range(self._current_index,
-                               min(self._current_index + self.WINDOWS_SIZE + 1, self._route_length)):
+            for index in range(
+                self._current_index,
+                min(self._current_index + self.WINDOWS_SIZE + 1, self._route_length),
+            ):
                 ref_location = self._route_transforms[index].location
-                distance = math.sqrt(((location.x - ref_location.x) ** 2) + ((location.y - ref_location.y) ** 2))
+                distance = math.sqrt(
+                    ((location.x - ref_location.x) ** 2)
+                    + ((location.y - ref_location.y) ** 2)
+                )
                 if distance <= shortest_distance:
                     closest_index = index
                     shortest_distance = distance
 
-            if closest_index == -1 or shortest_distance == float('inf'):
+            if closest_index == -1 or shortest_distance == float("inf"):
                 return new_status
 
             # Check if the actor is out of route
@@ -1474,13 +1735,17 @@ def update(self):
 
             # If actor advanced a step, record the distance
             if self._current_index != closest_index:
-
-                new_dist = self._accum_meters[closest_index] - self._accum_meters[self._current_index]
+                new_dist = (
+                    self._accum_meters[closest_index]
+                    - self._accum_meters[self._current_index]
+                )
 
                 # If too far from the route, add it and check if its value
                 if not self._in_safe_route:
                     self._out_route_distance += new_dist
-                    out_route_percentage = 100 * self._out_route_distance / self._accum_meters[-1]
+                    out_route_percentage = (
+                        100 * self._out_route_distance / self._accum_meters[-1]
+                    )
                     if out_route_percentage > self.MAX_ROUTE_PERCENTAGE:
                         off_route = True
 
@@ -1491,13 +1756,16 @@ def update(self):
                 blackv = py_trees.blackboard.Blackboard()
                 _ = blackv.set("InRoute", False)
 
-                route_deviation_event = TrafficEvent(event_type=TrafficEventType.ROUTE_DEVIATION, frame=GameTime.get_frame())
+                route_deviation_event = TrafficEvent(
+                    event_type=TrafficEventType.ROUTE_DEVIATION,
+                    frame=GameTime.get_frame(),
+                )
                 route_deviation_event.set_message(
                     "Agent deviated from the route at (x={}, y={}, z={})".format(
-                        round(location.x, 3),
-                        round(location.y, 3),
-                        round(location.z, 3)))
-                route_deviation_event.set_dict({'location': location})
+                        round(location.x, 3), round(location.y, 3), round(location.z, 3)
+                    )
+                )
+                route_deviation_event.set_dict({"location": location})
 
                 self.events.append(route_deviation_event)
 
@@ -1505,13 +1773,14 @@ def update(self):
                 self.actual_value += 1
                 new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class RouteCompletionTest(Criterion):
-
     """
     Check at which stage of the route is the actor at each tick
 
@@ -1520,16 +1789,20 @@ class RouteCompletionTest(Criterion):
     - route: Route to be checked
     - terminate_on_failure [optional]: If True, the complete scenario will terminate upon failure of this test
     """
+
     WINDOWS_SIZE = 2
 
     # Thresholds to return that a route has been completed
     DISTANCE_THRESHOLD = 10.0  # meters
     PERCENTAGE_THRESHOLD = 99  # %
 
-    def __init__(self, actor, route, name="RouteCompletionTest", terminate_on_failure=False):
-        """
-        """
-        super(RouteCompletionTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure)
+    def __init__(
+        self, actor, route, name="RouteCompletionTest", terminate_on_failure=False
+    ):
+        """ """
+        super(RouteCompletionTest, self).__init__(
+            name, actor, terminate_on_failure=terminate_on_failure
+        )
         self.units = "%"
         self.success_value = 100
         self._route = route
@@ -1542,9 +1815,13 @@ def __init__(self, actor, route, name="RouteCompletionTest", terminate_on_failur
 
         self.target_location = self._route_transforms[-1].location
 
-        self._traffic_event = TrafficEvent(event_type=TrafficEventType.ROUTE_COMPLETION, frame=0)
-        self._traffic_event.set_dict({'route_completed': self.actual_value})
-        self._traffic_event.set_message("Agent has completed {} of the route".format(self.actual_value))
+        self._traffic_event = TrafficEvent(
+            event_type=TrafficEventType.ROUTE_COMPLETION, frame=0
+        )
+        self._traffic_event.set_dict({"route_completed": self.actual_value})
+        self._traffic_event.set_message(
+            "Agent has completed {} of the route".format(self.actual_value)
+        )
         self.events.append(self._traffic_event)
 
     def _get_acummulated_percentages(self):
@@ -1574,32 +1851,42 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        elif self.test_status in ('RUNNING', 'INIT'):
-
-            for index in range(self._index, min(self._index + self.WINDOWS_SIZE + 1, self._route_length)):
+        elif self.test_status in ("RUNNING", "INIT"):
+            for index in range(
+                self._index,
+                min(self._index + self.WINDOWS_SIZE + 1, self._route_length),
+            ):
                 # Get the dot product to know if it has passed this location
                 route_transform = self._route_transforms[index]
                 route_location = route_transform.location
-                wp_dir = route_transform.get_forward_vector()          # Waypoint's forward vector
-                wp_veh = location - route_location                     # vector route - vehicle
+                wp_dir = (
+                    route_transform.get_forward_vector()
+                )  # Waypoint's forward vector
+                wp_veh = location - route_location  # vector route - vehicle
 
                 if wp_veh.dot(wp_dir) > 0:
                     self._index = index
                     self.actual_value = self._route_accum_perc[self._index]
 
             self.actual_value = round(self.actual_value, 2)
-            self._traffic_event.set_dict({'route_completed': self.actual_value})
-            self._traffic_event.set_message("Agent has completed {} of the route".format(self.actual_value))
-
-            if self.actual_value > self.PERCENTAGE_THRESHOLD \
-                    and location.distance(self.target_location) < self.DISTANCE_THRESHOLD:
+            self._traffic_event.set_dict({"route_completed": self.actual_value})
+            self._traffic_event.set_message(
+                "Agent has completed {} of the route".format(self.actual_value)
+            )
+
+            if (
+                self.actual_value > self.PERCENTAGE_THRESHOLD
+                and location.distance(self.target_location) < self.DISTANCE_THRESHOLD
+            ):
                 self.test_status = "SUCCESS"
                 self.actual_value = 100
 
         elif self.test_status == "SUCCESS":
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -1609,8 +1896,10 @@ def terminate(self, new_status):
         """
         self.actual_value = round(self.actual_value, 2)
 
-        self._traffic_event.set_dict({'route_completed': self.actual_value})
-        self._traffic_event.set_message("Agent has completed {} of the route".format(self.actual_value))
+        self._traffic_event.set_dict({"route_completed": self.actual_value})
+        self._traffic_event.set_message(
+            "Agent has completed {} of the route".format(self.actual_value)
+        )
 
         if self.test_status == "INIT":
             self.test_status = "FAILURE"
@@ -1618,7 +1907,6 @@ def terminate(self, new_status):
 
 
 class RunningRedLightTest(Criterion):
-
     """
     Check if an actor is running a red light
 
@@ -1626,13 +1914,16 @@ class RunningRedLightTest(Criterion):
     - actor: CARLA actor to be used for this test
     - terminate_on_failure [optional]: If True, the complete scenario will terminate upon failure of this test
     """
+
     DISTANCE_LIGHT = 15  # m
 
     def __init__(self, actor, name="RunningRedLightTest", terminate_on_failure=False):
         """
         Init
         """
-        super(RunningRedLightTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure)
+        super(RunningRedLightTest, self).__init__(
+            name, actor, terminate_on_failure=terminate_on_failure
+        )
         self._world = CarlaDataProvider.get_world()
         self._map = CarlaDataProvider.get_map()
         self._list_traffic_lights = []
@@ -1641,7 +1932,7 @@ def __init__(self, actor, name="RunningRedLightTest", terminate_on_failure=False
 
         all_actors = CarlaDataProvider.get_all_actors()
         for _actor in all_actors:
-            if 'traffic_light' in _actor.type_id:
+            if "traffic_light" in _actor.type_id:
                 center, waypoints = self.get_traffic_light_waypoints(_actor)
                 self._list_traffic_lights.append((_actor, center, waypoints))
 
@@ -1650,8 +1941,12 @@ def is_vehicle_crossing_line(self, seg1, seg2):
         """
         check if vehicle crosses a line segment
         """
-        line1 = shapely.geometry.LineString([(seg1[0].x, seg1[0].y), (seg1[1].x, seg1[1].y)])
-        line2 = shapely.geometry.LineString([(seg2[0].x, seg2[0].y), (seg2[1].x, seg2[1].y)])
+        line1 = shapely.geometry.LineString(
+            [(seg1[0].x, seg1[0].y), (seg1[1].x, seg1[1].y)]
+        )
+        line2 = shapely.geometry.LineString(
+            [(seg2[0].x, seg2[0].y), (seg2[1].x, seg2[1].y)]
+        )
         inter = line1.intersection(line2)
 
         return not inter.is_empty
@@ -1669,14 +1964,17 @@ def update(self):
 
         veh_extent = self.actor.bounding_box.extent.x
 
-        tail_close_pt = self.rotate_point(carla.Vector3D(-0.8 * veh_extent, 0, 0), transform.rotation.yaw)
+        tail_close_pt = self.rotate_point(
+            carla.Vector3D(-0.8 * veh_extent, 0, 0), transform.rotation.yaw
+        )
         tail_close_pt = location + carla.Location(tail_close_pt)
 
-        tail_far_pt = self.rotate_point(carla.Vector3D(-veh_extent - 1, 0, 0), transform.rotation.yaw)
+        tail_far_pt = self.rotate_point(
+            carla.Vector3D(-veh_extent - 1, 0, 0), transform.rotation.yaw
+        )
         tail_far_pt = location + carla.Location(tail_far_pt)
 
         for traffic_light, center, waypoints in self._list_traffic_lights:
-
             if self.debug:
                 z = 2.1
                 if traffic_light.state == carla.TrafficLightState.Red:
@@ -1685,16 +1983,27 @@ def update(self):
                     color = carla.Color(0, 155, 0)
                 else:
                     color = carla.Color(155, 155, 0)
-                self._world.debug.draw_point(center + carla.Location(z=z), size=0.2, color=color, life_time=0.01)
+                self._world.debug.draw_point(
+                    center + carla.Location(z=z), size=0.2, color=color, life_time=0.01
+                )
                 for wp in waypoints:
                     text = "{}.{}".format(wp.road_id, wp.lane_id)
                     self._world.debug.draw_string(
-                        wp.transform.location + carla.Location(x=1, z=z), text, color=color, life_time=0.01)
+                        wp.transform.location + carla.Location(x=1, z=z),
+                        text,
+                        color=color,
+                        life_time=0.01,
+                    )
                     self._world.debug.draw_point(
-                        wp.transform.location + carla.Location(z=z), size=0.1, color=color, life_time=0.01)
+                        wp.transform.location + carla.Location(z=z),
+                        size=0.1,
+                        color=color,
+                        life_time=0.01,
+                    )
 
             center_loc = carla.Location(center)
 
+            # skip traffic lights that have already been passed, are too far or are not red
             if self._last_red_light_id and self._last_red_light_id == traffic_light.id:
                 continue
             if center_loc.distance(location) > self.DISTANCE_LIGHT:
@@ -1703,39 +2012,56 @@ def update(self):
                 continue
 
             for wp in waypoints:
-
                 tail_wp = self._map.get_waypoint(tail_far_pt)
 
                 # Calculate the dot product (Might be unscaled, as only its sign is important)
-                ve_dir = CarlaDataProvider.get_transform(self.actor).get_forward_vector()
+                ve_dir = CarlaDataProvider.get_transform(
+                    self.actor
+                ).get_forward_vector()
                 wp_dir = wp.transform.get_forward_vector()
 
                 # Check the lane until all the "tail" has passed
-                if tail_wp.road_id == wp.road_id and tail_wp.lane_id == wp.lane_id and ve_dir.dot(wp_dir) > 0:
+                if (
+                    tail_wp.road_id == wp.road_id
+                    and tail_wp.lane_id == wp.lane_id
+                    and ve_dir.dot(wp_dir) > 0
+                ):
                     # This light is red and is affecting our lane
                     yaw_wp = wp.transform.rotation.yaw
                     lane_width = wp.lane_width
                     location_wp = wp.transform.location
 
-                    lft_lane_wp = self.rotate_point(carla.Vector3D(0.6 * lane_width, 0, 0), yaw_wp + 90)
+                    lft_lane_wp = self.rotate_point(
+                        carla.Vector3D(0.6 * lane_width, 0, 0), yaw_wp + 90
+                    )
                     lft_lane_wp = location_wp + carla.Location(lft_lane_wp)
-                    rgt_lane_wp = self.rotate_point(carla.Vector3D(0.6 * lane_width, 0, 0), yaw_wp - 90)
+                    rgt_lane_wp = self.rotate_point(
+                        carla.Vector3D(0.6 * lane_width, 0, 0), yaw_wp - 90
+                    )
                     rgt_lane_wp = location_wp + carla.Location(rgt_lane_wp)
 
                     # Is the vehicle traversing the stop line?
-                    if self.is_vehicle_crossing_line((tail_close_pt, tail_far_pt), (lft_lane_wp, rgt_lane_wp)):
-
+                    if self.is_vehicle_crossing_line(
+                        (tail_close_pt, tail_far_pt), (lft_lane_wp, rgt_lane_wp)
+                    ):
                         self.test_status = "FAILURE"
                         self.actual_value += 1
                         location = traffic_light.get_transform().location
-                        red_light_event = TrafficEvent(event_type=TrafficEventType.TRAFFIC_LIGHT_INFRACTION, frame=GameTime.get_frame())
+                        red_light_event = TrafficEvent(
+                            event_type=TrafficEventType.TRAFFIC_LIGHT_INFRACTION,
+                            frame=GameTime.get_frame(),
+                        )
                         red_light_event.set_message(
                             "Agent ran a red light {} at (x={}, y={}, z={})".format(
                                 traffic_light.id,
                                 round(location.x, 3),
                                 round(location.y, 3),
-                                round(location.z, 3)))
-                        red_light_event.set_dict({'id': traffic_light.id, 'location': location})
+                                round(location.z, 3),
+                            )
+                        )
+                        red_light_event.set_dict(
+                            {"id": traffic_light.id, "location": location}
+                        )
 
                         self.events.append(red_light_event)
                         self._last_red_light_id = traffic_light.id
@@ -1744,7 +2070,9 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -1752,8 +2080,14 @@ def rotate_point(self, point, angle):
         """
         rotate a given point by a given angle
         """
-        x_ = math.cos(math.radians(angle)) * point.x - math.sin(math.radians(angle)) * point.y
-        y_ = math.sin(math.radians(angle)) * point.x + math.cos(math.radians(angle)) * point.y
+        x_ = (
+            math.cos(math.radians(angle)) * point.x
+            - math.sin(math.radians(angle)) * point.y
+        )
+        y_ = (
+            math.sin(math.radians(angle)) * point.x
+            + math.cos(math.radians(angle)) * point.y
+        )
         return carla.Vector3D(x_, y_, point.z)
 
     def get_traffic_light_waypoints(self, traffic_light):
@@ -1766,7 +2100,9 @@ def get_traffic_light_waypoints(self, traffic_light):
 
         # Discretize the trigger box into points
         area_ext = traffic_light.trigger_volume.extent
-        x_values = np.arange(-0.9 * area_ext.x, 0.9 * area_ext.x, 1.0)  # 0.9 to avoid crossing to adjacent lanes
+        x_values = np.arange(
+            -0.9 * area_ext.x, 0.9 * area_ext.x, 1.0
+        )  # 0.9 to avoid crossing to adjacent lanes
 
         area = []
         for x in x_values:
@@ -1779,7 +2115,11 @@ def get_traffic_light_waypoints(self, traffic_light):
         for pt in area:
             wpx = self._map.get_waypoint(pt)
             # As x_values are arranged in order, only the last one has to be checked
-            if not ini_wps or ini_wps[-1].road_id != wpx.road_id or ini_wps[-1].lane_id != wpx.lane_id:
+            if (
+                not ini_wps
+                or ini_wps[-1].road_id != wpx.road_id
+                or ini_wps[-1].lane_id != wpx.lane_id
+            ):
                 ini_wps.append(wpx)
 
         # Advance them until the intersection
@@ -1797,7 +2137,6 @@ def get_traffic_light_waypoints(self, traffic_light):
 
 
 class RunningStopTest(Criterion):
-
     """
     Check if an actor is running a stop sign
 
@@ -1805,14 +2144,16 @@ class RunningStopTest(Criterion):
     - actor: CARLA actor to be used for this test
     - terminate_on_failure [optional]: If True, the complete scenario will terminate upon failure of this test
     """
+
     PROXIMITY_THRESHOLD = 4.0  # Stops closer than this distance will be detected [m]
-    SPEED_THRESHOLD = 0.1 # Minimum speed to consider the actor has stopped [m/s]
+    SPEED_THRESHOLD = 0.1  # Minimum speed to consider the actor has stopped [m/s]
     WAYPOINT_STEP = 0.5  # m
 
     def __init__(self, actor, name="RunningStopTest", terminate_on_failure=False):
-        """
-        """
-        super(RunningStopTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure)
+        """ """
+        super(RunningStopTest, self).__init__(
+            name, actor, terminate_on_failure=terminate_on_failure
+        )
         self._world = CarlaDataProvider.get_world()
         self._map = CarlaDataProvider.get_map()
         self._list_stop_signs = []
@@ -1822,16 +2163,25 @@ def __init__(self, actor, name="RunningStopTest", terminate_on_failure=False):
         self._last_failed_stop = None
 
         for _actor in CarlaDataProvider.get_all_actors():
-            if 'traffic.stop' in _actor.type_id:
+            if "traffic.stop" in _actor.type_id:
                 self._list_stop_signs.append(_actor)
 
     def point_inside_boundingbox(self, point, bb_center, bb_extent, multiplier=1.2):
         """Checks whether or not a point is inside a bounding box."""
 
         # pylint: disable=invalid-name
-        A = carla.Vector2D(bb_center.x - multiplier * bb_extent.x, bb_center.y - multiplier * bb_extent.y)
-        B = carla.Vector2D(bb_center.x + multiplier * bb_extent.x, bb_center.y - multiplier * bb_extent.y)
-        D = carla.Vector2D(bb_center.x - multiplier * bb_extent.x, bb_center.y + multiplier * bb_extent.y)
+        A = carla.Vector2D(
+            bb_center.x - multiplier * bb_extent.x,
+            bb_center.y - multiplier * bb_extent.y,
+        )
+        B = carla.Vector2D(
+            bb_center.x + multiplier * bb_extent.x,
+            bb_center.y - multiplier * bb_extent.y,
+        )
+        D = carla.Vector2D(
+            bb_center.x - multiplier * bb_extent.x,
+            bb_center.y + multiplier * bb_extent.y,
+        )
         M = carla.Vector2D(point.x, point.y)
 
         AB = B - A
@@ -1859,7 +2209,9 @@ def is_actor_affected_by_stop(self, wp_list, stop):
         # Using more than one waypoint removes issues with small trigger volumes and backwards movement
         stop_extent = stop.trigger_volume.extent
         for actor_wp in wp_list:
-            if self.point_inside_boundingbox(actor_wp.transform.location, stop_location, stop_extent):
+            if self.point_inside_boundingbox(
+                actor_wp.transform.location, stop_location, stop_extent
+            ):
                 return True
 
         return False
@@ -1915,7 +2267,9 @@ def update(self):
         check_wps = self._get_waypoints(self.actor)
 
         if not self._target_stop_sign:
-            self._target_stop_sign = self._scan_for_stop_sign(actor_transform, check_wps)
+            self._target_stop_sign = self._scan_for_stop_sign(
+                actor_transform, check_wps
+            )
             return new_status
 
         if not self._stop_completed:
@@ -1924,19 +2278,29 @@ def update(self):
                 self._stop_completed = True
 
         if not self.is_actor_affected_by_stop(check_wps, self._target_stop_sign):
-            if not self._stop_completed and self._last_failed_stop != self._target_stop_sign.id:
+            if (
+                not self._stop_completed
+                and self._last_failed_stop != self._target_stop_sign.id
+            ):
                 # did we stop?
                 self.actual_value += 1
                 self.test_status = "FAILURE"
                 stop_location = self._target_stop_sign.get_transform().location
-                running_stop_event = TrafficEvent(event_type=TrafficEventType.STOP_INFRACTION, frame=GameTime.get_frame())
+                running_stop_event = TrafficEvent(
+                    event_type=TrafficEventType.STOP_INFRACTION,
+                    frame=GameTime.get_frame(),
+                )
                 running_stop_event.set_message(
                     "Agent ran a stop with id={} at (x={}, y={}, z={})".format(
                         self._target_stop_sign.id,
                         round(stop_location.x, 3),
                         round(stop_location.y, 3),
-                        round(stop_location.z, 3)))
-                running_stop_event.set_dict({'id': self._target_stop_sign.id, 'location': stop_location})
+                        round(stop_location.z, 3),
+                    )
+                )
+                running_stop_event.set_dict(
+                    {"id": self._target_stop_sign.id, "location": stop_location}
+                )
 
                 self.events.append(running_stop_event)
 
@@ -1949,13 +2313,14 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class MinimumSpeedRouteTest(Criterion):
-
     """
     Check at which stage of the route is the actor at each tick
 
@@ -1964,12 +2329,19 @@ class MinimumSpeedRouteTest(Criterion):
     - route: Route to be checked
     - terminate_on_failure [optional]: If True, the complete scenario will terminate upon failure of this test
     """
+
     WINDOWS_SIZE = 2
     RATIO = 1
 
-    def __init__(self, actor, route, checkpoints=1, name="MinimumSpeedRouteTest", terminate_on_failure=False):
-        """
-        """
+    def __init__(
+        self,
+        actor,
+        route,
+        checkpoints=1,
+        name="MinimumSpeedRouteTest",
+        terminate_on_failure=False,
+    ):
+        """ """
         super().__init__(name, actor, terminate_on_failure=terminate_on_failure)
         self.units = "%"
         self.success_value = 100
@@ -1999,7 +2371,6 @@ def __init__(self, actor, route, checkpoints=1, name="MinimumSpeedRouteTest", te
 
         self._index = 0
 
-
     def update(self):
         """
         Check if the actor location is within trigger region
@@ -2009,12 +2380,14 @@ def update(self):
         if self._terminate_on_failure and (self.test_status == "FAILURE"):
             new_status = py_trees.common.Status.FAILURE
 
-        # Check the actor progress through the route 
+        # Check the actor progress through the route
         location = CarlaDataProvider.get_location(self.actor)
         if location is None:
             return new_status
 
-        for index in range(self._index, min(self._index + self.WINDOWS_SIZE + 1, self._route_length)):
+        for index in range(
+            self._index, min(self._index + self.WINDOWS_SIZE + 1, self._route_length)
+        ):
             # Get the dot product to know if it has passed this location
             route_transform = self._route[index][0]
             route_location = route_transform.location
@@ -2037,8 +2410,10 @@ def update(self):
             return new_status
 
         # Get the speed of the surrounding Background Activity
-        all_vehicles = CarlaDataProvider.get_all_actors().filter('vehicle*')
-        background_vehicles = [v for v in all_vehicles if v.attributes['role_name'] == 'background']
+        all_vehicles = CarlaDataProvider.get_all_actors().filter("vehicle*")
+        background_vehicles = [
+            v for v in all_vehicles if v.attributes["role_name"] == "background"
+        ]
 
         if background_vehicles:
             frame_mean_speed = 0
@@ -2051,16 +2426,19 @@ def update(self):
             self._actor_speed += velocity
             self._speed_points += 1
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
     def _set_traffic_event(self):
-
         if self._speed_points > 0 and self._mean_speed:
             self._mean_speed /= self._speed_points
             self._actor_speed /= self._speed_points
-            checkpoint_value = round(self._actor_speed / (self.RATIO * self._mean_speed) * 100, 2)
+            checkpoint_value = round(
+                self._actor_speed / (self.RATIO * self._mean_speed) * 100, 2
+            )
         else:
             checkpoint_value = 100
 
@@ -2069,9 +2447,13 @@ def _set_traffic_event(self):
         else:
             self.test_status = "FAILURE"
 
-            self._traffic_event = TrafficEvent(TrafficEventType.MIN_SPEED_INFRACTION, GameTime.get_frame())
-            self._traffic_event.set_dict({'percentage': checkpoint_value})
-            self._traffic_event.set_message(f"Average speed is {checkpoint_value}% of the surrounding traffic's one")
+            self._traffic_event = TrafficEvent(
+                TrafficEventType.MIN_SPEED_INFRACTION, GameTime.get_frame()
+            )
+            self._traffic_event.set_dict({"percentage": checkpoint_value})
+            self._traffic_event.set_message(
+                f"Average speed is {checkpoint_value}% of the surrounding traffic's one"
+            )
             self.events.append(self._traffic_event)
 
         self._checkpoint_values.append(checkpoint_value)
@@ -2086,12 +2468,13 @@ def terminate(self, new_status):
             self._set_traffic_event()
 
         if len(self._checkpoint_values):
-            self.actual_value = round(sum(self._checkpoint_values) / len(self._checkpoint_values), 2)
+            self.actual_value = round(
+                sum(self._checkpoint_values) / len(self._checkpoint_values), 2
+            )
         super().terminate(new_status)
 
 
 class YieldToEmergencyVehicleTest(Criterion):
-
     """
     Atomic Criterion to detect if the actor yields its lane to the emergency vehicle behind it.
     Detection is done by checking if the ev is in front of the actor
@@ -2102,7 +2485,7 @@ class YieldToEmergencyVehicleTest(Criterion):
         optional (bool): If True, the result is not considered for an overall pass/fail result
     """
 
-    WAITING_TIME_THRESHOLD = 15 # Maximum time for actor to block ev
+    WAITING_TIME_THRESHOLD = 15  # Maximum time for actor to block ev
 
     def __init__(self, actor, ev, optional=False, name="YieldToEmergencyVehicleTest"):
         """
@@ -2136,7 +2519,9 @@ def update(self):
         else:
             self.test_status = "SUCCESS"
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def terminate(self, new_status):
@@ -2144,8 +2529,12 @@ def terminate(self, new_status):
         # Terminates are called multiple times. Do this only once
         if not self._terminated:
             if self.test_status == "FAILURE":
-                traffic_event = TrafficEvent(TrafficEventType.YIELD_TO_EMERGENCY_VEHICLE, GameTime.get_frame())
-                traffic_event.set_message("Agent failed to yield to an emergency vehicle")
+                traffic_event = TrafficEvent(
+                    TrafficEventType.YIELD_TO_EMERGENCY_VEHICLE, GameTime.get_frame()
+                )
+                traffic_event.set_message(
+                    "Agent failed to yield to an emergency vehicle"
+                )
                 self.events.append(traffic_event)
 
             self._terminated = True
@@ -2154,7 +2543,6 @@ def terminate(self, new_status):
 
 
 class ScenarioTimeoutTest(Criterion):
-
     """
     Atomic Criterion to detect if the actor has been incapable of finishing an scenario
 
@@ -2163,7 +2551,9 @@ class ScenarioTimeoutTest(Criterion):
         optional (bool): If True, the result is not considered for an overall pass/fail result
     """
 
-    def __init__(self, actor, scenario_name, optional=False, name="ScenarioTimeoutTest"):
+    def __init__(
+        self, actor, scenario_name, optional=False, name="ScenarioTimeoutTest"
+    ):
         """
         Constructor
         """
@@ -2175,7 +2565,9 @@ def __init__(self, actor, scenario_name, optional=False, name="ScenarioTimeoutTe
     def update(self):
         """wait"""
         new_status = py_trees.common.Status.RUNNING
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def terminate(self, new_status):
@@ -2188,7 +2580,9 @@ def terminate(self, new_status):
             self.actual_value = 1
             self.test_status = "FAILURE"
 
-            traffic_event = TrafficEvent(event_type=TrafficEventType.SCENARIO_TIMEOUT, frame=GameTime.get_frame())
+            traffic_event = TrafficEvent(
+                event_type=TrafficEventType.SCENARIO_TIMEOUT, frame=GameTime.get_frame()
+            )
             traffic_event.set_message("Agent timed out a scenario")
             self.events.append(traffic_event)
         py_trees.blackboard.Blackboard().set(blackboard_name, None, True)
diff --git a/srunner/tools/route_visualisation.py b/srunner/tools/route_visualisation.py
index 45f1b86..0e231d9 100644
--- a/srunner/tools/route_visualisation.py
+++ b/srunner/tools/route_visualisation.py
@@ -12,19 +12,16 @@ def visualise_route(route: list[carla.Location], lifetime=600):
     """
 
     world_debug = CarlaDataProvider.get_world().debug
-
-    line_color = carla.Color(r=0, g=0, b=60)
     waypoint_color = carla.Color(r=0, g=0, b=80)
 
     for waypoint in range(len(route) - 1):
         begin = route[waypoint].location
-        end = route[waypoint + 1].location
 
-        world_debug.draw_line(
-            begin=begin, end=end, thickness=0.02, color=line_color, life_time=lifetime
-        )
+        # world_debug.draw_line(
+        #    begin=begin, end=end, thickness=0.02, color=line_color, life_time=lifetime
+        # )
         world_debug.draw_point(
-            location=begin, size=0.1, color=waypoint_color, life_time=lifetime
+            location=begin, size=0.05, color=waypoint_color, life_time=lifetime
         )
 
     # draw final waypoint

From ec166375660b6f2008232961964b5d1276728ae0 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 31 Jan 2026 12:23:08 +0000
Subject: [PATCH 017/133] updated time ratio to track 1 / fixed_delta ticks

---
 srunner/autoagents/autoware_agent.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 7169b21..78de7e8 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -17,6 +17,7 @@
 from srunner.autoagents.autoware_carla_interface.carla_autoware import (
     InitializeInterface,
 )
+from tools.CARLA_manager import CARLAManager
 
 import threading
 import rclpy
@@ -46,6 +47,7 @@ def setup(self, config: EnvironmentConfig) -> None:
         rclpy.init(args=None)
 
         self.config = config
+        self.tick_delta = CARLAManager.FIXED_DELTA_SECONDS
 
         # initialise autoware state object
         self.autoware_state = autoware_state.AutowareState("ego_vehicle", None)
@@ -173,7 +175,7 @@ def run_step_init(self) -> bool:
     def run_step(self) -> None:
         """Tick method containing all logic based on autoware state"""
         self.counter += 1
-        if self.counter % 20 == 0:
+        if self.counter % int(1 / self.tick_delta) == 0:
             logger.info(
                 f"Ticked 1 second game-time, actual tick is {(time.perf_counter_ns() - self.last_tick) / 1e6}ms"
             )

From a9657cde1b1d6e7012ede384ed6fbea78e6f4e12 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 31 Jan 2026 12:31:36 +0000
Subject: [PATCH 018/133] push

---
 srunner/autoagents/autoware_agent.py                     | 2 +-
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 78de7e8..cc229eb 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -17,7 +17,7 @@
 from srunner.autoagents.autoware_carla_interface.carla_autoware import (
     InitializeInterface,
 )
-from tools.CARLA_manager import CARLAManager
+from srunner.tools.CARLA_manager import CARLAManager
 
 import threading
 import rclpy
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 7ff550d..220a1ab 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -53,7 +53,7 @@
     SensorInterface,
 )
 
-from tools.CARLA_manager import CARLAManager
+from srunner.tools.CARLA_manager import CARLAManager
 
 
 class carla_ros2_interface(object):

From 566ad8f23b5958037d19774d581f8193c824a127 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 23 Feb 2026 20:48:28 +0000
Subject: [PATCH 019/133] removed sensor tick; added wait for control command

---
 .../autoware_carla_interface/carla_autoware.py  |  8 ++++++++
 .../autoware_carla_interface/carla_ros.py       | 17 +++++++++++++++--
 .../modules/carla_wrapper.py                    |  7 ++++---
 3 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_autoware.py b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
index ce6b070..b87ce59 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_autoware.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
@@ -26,6 +26,8 @@
 
 from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
 
+from enum import Enum
+
 
 class SensorLoop(object):
     def __init__(self):
@@ -100,3 +102,9 @@ def _cleanup(self):
         if self.interface:
             self.interface.shutdown()
             self.interface = None
+
+
+class CarlaState(Enum):
+    PLAY = 1
+    CONTROL = 2
+    STOP = 3
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 220a1ab..ebc29d6 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -55,6 +55,8 @@
 
 from srunner.tools.CARLA_manager import CARLAManager
 
+from carla_autoware import CarlaState
+
 
 class carla_ros2_interface(object):
     def __init__(self, node):
@@ -83,9 +85,7 @@ def __init__(self, node):
         self.publish_prev_times = {
             sensor: GameTime.get_time() for sensor in self.sensor_frequencies
         }
-
         self.delta = CARLAManager.FIXED_DELTA_SECONDS  # delta in seconds
-
         self.ros2_node = node
 
         self.clock_publisher = self.ros2_node.create_publisher(Clock, "/clock", 10)
@@ -93,6 +93,8 @@ def __init__(self, node):
         obj_clock.clock = Time(sec=int(0))
         self.clock_publisher.publish(obj_clock)
 
+        self.carla_state = CarlaState.PLAY
+
         # load sensor config and create publishers
         sensors_config = pathlib.Path(
             "srunner/autoagents/autoware_carla_interface/objects/sensors.json"
@@ -176,6 +178,9 @@ def checkFrequency(self, sensor):
         # implement frequency check based on game time
         time_delta = GameTime.get_time() - self.publish_prev_times[sensor]
 
+        if time_delta == 0.0:
+            return True
+
         if 1.0 / time_delta >= self.sensor_frequencies[sensor]:
             return True
         return False
@@ -417,7 +422,9 @@ def control_callback(self, in_cmd):
             self.first_order_steering(-in_cmd.actuation.steer_cmd) * max_steer_ratio
         )
         out_cmd.brake = in_cmd.actuation.brake_cmd
+
         self.current_control = out_cmd
+        self.carla_state = CarlaState.CONTROL  # update state
 
     def ego_status(self):
         """Publish ego vehicle status."""
@@ -480,6 +487,7 @@ def ego_status(self):
         self.pub_gear_state.publish(out_gear_state)
 
     def run_step(self, input_data, timestamp):
+        self.carla_state = CarlaState.PLAY
         self.timestamp = timestamp
 
         seconds = int(self.timestamp)
@@ -503,7 +511,12 @@ def run_step(self, input_data, timestamp):
                 self.ros2_node.get_logger().info("No Publisher for [{key}] Sensor")
 
         self.ego_status()
+
+        # wait to receive a control command
+        while self.carla_state != CarlaState.CONTROL:
+            pass
         return self.current_control
 
     def shutdown(self):
+        self.carla_state = CarlaState.STOP
         self.ros2_node.destroy_node()
diff --git a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
index 48a861a..df15967 100644
--- a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
+++ b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
@@ -218,9 +218,10 @@ def setup_sensors(self, vehicle, debug_mode=False):
                     yaw=sensor_spec["spawn_point"]["yaw"] + 0.0364,
                 )
 
-            bp.set_attribute(
-                "sensor_tick", str(round(1.0 / sensor_spec["publish_frequency"], 2))
-            )
+            # bp.set_attribute(
+            #    "sensor_tick", str(round(1.0 / sensor_spec["publish_frequency"], 2))
+            # )
+
             logger.info(
                 f"Sensor {sensor_spec['id']} tick rate set to {str(round(1.0 / sensor_spec['publish_frequency'], 2))}"
             )

From bb6c2781279d80441aaaa93e953670f86d3772a6 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 23 Feb 2026 21:02:36 +0000
Subject: [PATCH 020/133] added delay to ensure ticking remains constant

---
 docker/cyclonedds.xml                             |  0
 .../autoware_carla_interface/carla_ros.py         | 15 +++++++++++++--
 srunner/scenariomanager/scenario_manager.py       |  9 +++++++++
 3 files changed, 22 insertions(+), 2 deletions(-)
 create mode 100644 docker/cyclonedds.xml

diff --git a/docker/cyclonedds.xml b/docker/cyclonedds.xml
new file mode 100644
index 0000000..e69de29
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index ebc29d6..450fb15 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.sr/bin/env python
 
+import datetime
 import json
 import math
 
@@ -82,9 +83,14 @@ def __init__(self, node):
             "status": 50,
             "pose": 2,
         }
+        # self.publish_prev_times = {
+        #    sensor: GameTime.get_time() for sensor in self.sensor_frequencies
+        # }
+
         self.publish_prev_times = {
-            sensor: GameTime.get_time() for sensor in self.sensor_frequencies
+            sensor: datetime.datetime.now() for sensor in self.sensor_frequencies
         }
+
         self.delta = CARLAManager.FIXED_DELTA_SECONDS  # delta in seconds
         self.ros2_node = node
 
@@ -176,7 +182,12 @@ def __call__(self):
 
     def checkFrequency(self, sensor):
         # implement frequency check based on game time
-        time_delta = GameTime.get_time() - self.publish_prev_times[sensor]
+        # time_delta = GameTime.get_time() - self.publish_prev_times[sensor]
+
+        # implement frequency check based on real time
+        time_delta = (
+            datetime.datetime.now() - self.publish_prev_times[sensor]
+        ).microseconds / 1000000.0
 
         if time_delta == 0.0:
             return True
diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
index bb1c7dc..cd1f268 100644
--- a/srunner/scenariomanager/scenario_manager.py
+++ b/srunner/scenariomanager/scenario_manager.py
@@ -25,6 +25,8 @@
 from srunner.scenariomanager.watchdog import Watchdog
 from srunner.tools.metrics_collector import MetricsCollector
 
+from srunner.tools.CARLA_manager import CARLAManager
+
 
 class ScenarioManager(object):
     """
@@ -171,6 +173,7 @@ def _tick_scenario(self, timestamp):
         """
         if self._timestamp_last_run < timestamp.elapsed_seconds and self._running:
             self._timestamp_last_run = timestamp.elapsed_seconds
+            start_tick = time.perf_counter_ns()
 
             self._watchdog.update()
 
@@ -204,6 +207,12 @@ def _tick_scenario(self, timestamp):
             if self.scenario_tree.status != py_trees.common.Status.RUNNING:
                 self._running = False
 
+            end_tick = time.perf_counter_ns()
+
+            tick_diff = (start_tick - end_tick) / 1e9
+            if (start_tick - end_tick) < CARLAManager.FIXED_DELTA_SECONDS:
+                time.sleep(CARLAManager.FIXED_DELTA_SECONDS - tick_diff)
+
     def _tick_spectator_cam(self, ego: carla.Actor) -> None:
         """Ticks the spectator camera for the chosen ego"""
         vehicle_transform = ego.get_transform()

From dc386b35577620c969ec7a62ca914e78e2fa0457 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 23 Feb 2026 21:03:20 +0000
Subject: [PATCH 021/133] added more descriptive tick messages

---
 srunner/autoagents/autoware_agent.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index cc229eb..1fb615b 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -17,6 +17,7 @@
 from srunner.autoagents.autoware_carla_interface.carla_autoware import (
     InitializeInterface,
 )
+from srunner.scenariomanager.timer import GameTime
 from srunner.tools.CARLA_manager import CARLAManager
 
 import threading
@@ -177,7 +178,7 @@ def run_step(self) -> None:
         self.counter += 1
         if self.counter % int(1 / self.tick_delta) == 0:
             logger.info(
-                f"Ticked 1 second game-time, actual tick is {(time.perf_counter_ns() - self.last_tick) / 1e6}ms"
+                f"Ticked 1 second game-time, Current time: {GameTime.get_time():.2f}s, Current tick: {self.counter}"
             )
             self.last_tick = time.perf_counter_ns()
 

From 9309ac3fa2679d6129c4122b422f80af174d0ecd Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Mon, 23 Feb 2026 21:05:00 +0000
Subject: [PATCH 022/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 747380 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 3e71f59f82f91ba22630fdd349f7df8d3435acac..895cf5a231eeb03cedd692cd60dde9a5ef063ae1 100644
GIT binary patch
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From a4c1ac88c6b3ad2806be99d5b57689f939d51949 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 17:27:57 +0000
Subject: [PATCH 023/133] (fix) mounting docker volume into carla container for
 results

---
 cawsr.py                         | 17 ++++++-----------
 srunner/tools/CARLA_manager.py   | 10 +++++++++-
 srunner/tools/results_manager.py |  4 ++++
 3 files changed, 19 insertions(+), 12 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index a1489e2..c4281fa 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -248,7 +248,9 @@ def run_scenario(
         logger.info("Starting scenario...")
 
         try:
-            self.carla_client.start_recorder("/home/carla/recording.log", True)
+            self.carla_client.start_recorder(
+                "/home/carla/recordings/recording.log", True
+            )
             self.scenario_manager.load_scenario(
                 scenario, self.aw_agent, follow_ego=True
             )
@@ -327,10 +329,6 @@ def run_algorithm(self) -> None:
         optimisation_algorithm = self._load_alg()
         scenario = pathlib.Path(self._conf["algorithm"]["initial_definition"])
 
-        # add some code here
-        # if scenario = null (initial definition not given)
-        # run the algorithm to generate a new, random scenario
-
         logger.info(str(scenario.absolute()))
         json_definition = self._load_scenario(
             scenario_name=scenario.stem,
@@ -344,6 +342,7 @@ def run_algorithm(self) -> None:
         for i in range(0, runs):
             logger.info(f"Running scenario {i + 1}/{runs}")
 
+            CARLAManager._set_recording_dir(self.results_manager.recording_path)
             logger.info("Starting CARLA container....")
             CARLAManager.restart_carla()
             time.sleep(10)  # allow CARLA to load
@@ -355,7 +354,7 @@ def run_algorithm(self) -> None:
                 self.results_manager.last_scenario, env_config
             )[
                 0
-            ]  # route id. Multiple routes currently aren't supported, so use first route -> fix to use config
+            ]  # route id. Multiple routes currently aren't supported, so use first route
 
             json_definition = self._cawsr_process(
                 route_config=route_config,
@@ -383,6 +382,7 @@ def run_benchmark(self) -> None:
         for i in range(0, runs):
             logger.info(f"Running scenario {i + 1}/{runs}")
 
+            CARLAManager._set_recording_dir(self.results_manager.recording_path)
             logger.info("Starting CARLA container....")
             CARLAManager.restart_carla()
             time.sleep(10)  # allow CARLA to load
@@ -465,11 +465,6 @@ def _cawsr_process(
 
         # copy over the recording from CARLA container
         time.sleep(1)  # ensure file is finished writing
-        CARLAManager.fetch_file(
-            "/home/carla/recording.log",
-            self.results_manager.last_scenario,
-        )
-        time.sleep(1)  # allow some time for docker to copy it over
 
         # fetch execution status of the scenario (failure or success)
         status = result["status"]
diff --git a/srunner/tools/CARLA_manager.py b/srunner/tools/CARLA_manager.py
index b8f55d3..03ab725 100644
--- a/srunner/tools/CARLA_manager.py
+++ b/srunner/tools/CARLA_manager.py
@@ -20,8 +20,9 @@ class CARLAManager(object):
     container_id = None
     port = 2000  # default
     fidelity = "Low"  # default
+    recording_dir = ""
     run_command = [
-        "docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port=2000 -quality-level=Low"
+        f"docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v {recording_dir}:/home/carla/recordings:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port=2000 -quality-level=Low"
     ]
 
     @staticmethod
@@ -34,6 +35,13 @@ def _load_config(config: CARLA) -> None:
             f"docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port={CARLAManager.port} -quality-level={CARLAManager.fidelity}"
         ]
 
+    @staticmethod
+    def _set_recording_dir(recording_dir: str) -> None:
+        CARLAManager.recording_dir = recording_dir
+        CARLAManager.run_command = [
+            f"docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v {CARLAManager.recording_dir}:/home/carla/recordings:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port={CARLAManager.port} -quality-level={CARLAManager.fidelity}"
+        ]
+
     @staticmethod
     def start_carla():
         # need a way to verify CARLA has launched
diff --git a/srunner/tools/results_manager.py b/srunner/tools/results_manager.py
index 9bd4cea..c0a8d71 100644
--- a/srunner/tools/results_manager.py
+++ b/srunner/tools/results_manager.py
@@ -70,6 +70,10 @@ def _create_scenario_folder(self, iteration: str, results_folder: str):
 
         full_path = os.path.join(results_folder, f"{iteration}")
 
+        # make the recordings folder
+        os.makedirs(os.path.join(full_path, "recording"), exist_ok=True)
+        self.recording_path = os.path.join(full_path, "recording")
+
         os.makedirs(full_path, exist_ok=True)  # exist_ok=True, no need to error handle
         self.last_scenario = full_path
 

From 7418a7480252fee6854b8a80ba75a6fade041507 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 17:29:10 +0000
Subject: [PATCH 024/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 895cf5a231eeb03cedd692cd60dde9a5ef063ae1..6ac77891232cca488040ec81c7044319e5bd07c2 100644
GIT binary patch
delta 281
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+;~{R-5JPh-BMU22^Qh?;4{}OO-+P!-
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Q)9d)SCAP0l<PK*704O_8r~m)}

delta 281
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+;~{S25F<k?0~0F~%c$uW4{}OO-+P!-
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From a34e6045095d8dd89cc51ba829e103d2a00ad0b9 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 18:10:44 +0000
Subject: [PATCH 025/133] (fix) added docs for autoware first-time launch,
 fixed import error

---
 README.md                                                | 9 ++++++++-
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 2 +-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 03c867d..cb79ffa 100644
--- a/README.md
+++ b/README.md
@@ -45,7 +45,7 @@ Running CAWSR
 
 CAWSR can both be ran `locally` or `distributed`. Due to the high-spec requirements, it is recommended to run distributed if you do not meet the following minimum specs:
 - At least **10GB** VRAM and a modern GPU (2080 ti or newer)
-    - We currently supports 20 and 30 series GPUs. Compatibility with the 40 series is current WIP.     
+    - We currently supports 20 and 30 series GPUs. Compatibility with the 40 series is current WIP.
 
 - At least **32GB** RAM
 - A modern Intel or AMD CPU with at least 8 cores.
@@ -118,6 +118,13 @@ docker_compose.yml
 ```
 All folders are mounted as Docker volumes into the CAWSR container, so any changes persist between host and container.
 
+## Autoware Warmup
+
+Before using CAWSR, Autoware must build various `TensorRT` engines for inference. Engine builds are not cross-compatible across various GPU compute capabilities (see [here](https://developer.nvidia.com/cuda/gpus)), so they must be rebuilt per machine. This process usually only takes a few minutes on modern hardware, and starts after the initial launch of autoware.
+
+
+
+
 ## Configuring CAWSR
 
 CAWSR is designed to be highly configurable and supports easy swapping of config files.
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 450fb15..ddb963d 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -56,7 +56,7 @@
 
 from srunner.tools.CARLA_manager import CARLAManager
 
-from carla_autoware import CarlaState
+from srunner.autoagents.autoware_carla_interface.carla_autoware import CarlaState
 
 
 class carla_ros2_interface(object):

From c009c74b05b325b65488e79b8603c9b48a215584 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 18:15:17 +0000
Subject: [PATCH 026/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 6ac77891232cca488040ec81c7044319e5bd07c2..bd4c953031f966fa2ccd259b85f6cd4b40587848 100644
GIT binary patch
delta 252
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zA<mbK>`;m6DMvU>;hY6WIL%?4?e~swN-(OJB%2so7?~yOrlzHs>zbIRrRZ9uni%RD
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z-{5gHHE=ezaC37rH8pZEHE=UEcXKr`b9Hq!F*I~^G&HtTuyMn$WP4#E_e3TDL90f0

delta 252
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BM`Hj0


From 2a455a64b487f84ba99eea03ae328b33888446ec Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 18:41:02 +0000
Subject: [PATCH 027/133] (fix) moved CarlaState to carla_ros.py

---
 README.md                                                 | 2 --
 .../autoagents/autoware_carla_interface/carla_autoware.py | 8 --------
 srunner/autoagents/autoware_carla_interface/carla_ros.py  | 8 ++++++--
 3 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index cb79ffa..36f7b21 100644
--- a/README.md
+++ b/README.md
@@ -123,8 +123,6 @@ All folders are mounted as Docker volumes into the CAWSR container, so any chang
 Before using CAWSR, Autoware must build various `TensorRT` engines for inference. Engine builds are not cross-compatible across various GPU compute capabilities (see [here](https://developer.nvidia.com/cuda/gpus)), so they must be rebuilt per machine. This process usually only takes a few minutes on modern hardware, and starts after the initial launch of autoware.
 
 
-
-
 ## Configuring CAWSR
 
 CAWSR is designed to be highly configurable and supports easy swapping of config files.
diff --git a/srunner/autoagents/autoware_carla_interface/carla_autoware.py b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
index b87ce59..ce6b070 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_autoware.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
@@ -26,8 +26,6 @@
 
 from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
 
-from enum import Enum
-
 
 class SensorLoop(object):
     def __init__(self):
@@ -102,9 +100,3 @@ def _cleanup(self):
         if self.interface:
             self.interface.shutdown()
             self.interface = None
-
-
-class CarlaState(Enum):
-    PLAY = 1
-    CONTROL = 2
-    STOP = 3
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index ddb963d..0e2bd8d 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -28,6 +28,7 @@
 from geometry_msgs.msg import PoseWithCovarianceStamped
 import numpy
 import pathlib
+from enum import Enum
 from rosgraph_msgs.msg import Clock
 from sensor_msgs.msg import CameraInfo
 from sensor_msgs.msg import Image
@@ -53,10 +54,13 @@
 from srunner.autoagents.autoware_carla_interface.modules.carla_wrapper import (
     SensorInterface,
 )
-
 from srunner.tools.CARLA_manager import CARLAManager
 
-from srunner.autoagents.autoware_carla_interface.carla_autoware import CarlaState
+
+class CarlaState(Enum):
+    PLAY = 1
+    CONTROL = 2
+    STOP = 3
 
 
 class carla_ros2_interface(object):

From 954142ec39164b9c52a09232d78225213121dd0e Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 18:42:15 +0000
Subject: [PATCH 028/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index bd4c953031f966fa2ccd259b85f6cd4b40587848..f8d460c6567f035dc9e3639ccc40b1bac2e87ba0 100644
GIT binary patch
delta 239
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sz|q3U*}?!w8M~Po7+V+{+9}u&RuVh?;Y}{N>2-YE65CfNa)&bk0J{rAr~m)}

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zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWeXQ!4}0sOc9Ea!O3!dze#Td&wcr
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From 78fab70ac36ca8abd9c298293f10662e9ce1a6cb Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 18:52:47 +0000
Subject: [PATCH 029/133] (fix) modified launch order of run_benchmark, fixed
 NoneType error with traffic manager

---
 cawsr.py  | 17 +++++++++--------
 engine.sh |  7 +++++++
 2 files changed, 16 insertions(+), 8 deletions(-)
 create mode 100644 engine.sh

diff --git a/cawsr.py b/cawsr.py
index c4281fa..af332c2 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -382,11 +382,6 @@ def run_benchmark(self) -> None:
         for i in range(0, runs):
             logger.info(f"Running scenario {i + 1}/{runs}")
 
-            CARLAManager._set_recording_dir(self.results_manager.recording_path)
-            logger.info("Starting CARLA container....")
-            CARLAManager.restart_carla()
-            time.sleep(10)  # allow CARLA to load
-
             if self._conf["benchmark"]["random_sampling"]:
                 scenario = random.choice(scenarios)
                 scenarios.remove(scenario)  # each scenario can only be picked once
@@ -400,6 +395,11 @@ def run_benchmark(self) -> None:
                 save_def=True,
             )
 
+            CARLAManager._set_recording_dir(self.results_manager.recording_path)
+            logger.info("Starting CARLA container....")
+            CARLAManager.restart_carla()
+            time.sleep(10)  # allow CARLA to load
+
             env_config = EnvironmentParser.parse_scenario_env(
                 self.results_manager.fetch_scenario_xml()
             )
@@ -587,9 +587,10 @@ def destroy(self) -> None:
     def _cleanup(self) -> None:
         """Cleanup function. Removes instances of the CARLA client and WORLD, also destroys the Ego vehicle in CARLA."""
         try:
-            CarlaDataProvider.get_client().get_trafficmanager(
-                int(self._carla.TRAFFIC_MANAGER.PORT)
-            ).set_synchronous_mode(False)
+            if CarlaDataProvider.get_client() is not None:
+                CarlaDataProvider.get_client().get_trafficmanager(
+                    int(self._carla.TRAFFIC_MANAGER.PORT)
+                ).set_synchronous_mode(False)
         except RuntimeError:
             sys.exit(-1)
 
diff --git a/engine.sh b/engine.sh
new file mode 100644
index 0000000..6684a9e
--- /dev/null
+++ b/engine.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+# start the autoware container with docker compose
+docker compose -f docker-compose-autoware.yaml up -d
+
+# enter the container and start autoware
+docker exec -it autoware bash -c "source /opt/ros/humble/setup.bash && source /workspace/install/setup.bash && ros2 topic pub -1 /autoware/restart autoware_cawsr_msgs/msg/AutowareRestart "{carla_map: 'Town01', ego_name: 'ego_vehicle'}""

From 77f2cdda1793e944d2fceb09d673a3051635396a Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 18:53:56 +0000
Subject: [PATCH 030/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index f8d460c6567f035dc9e3639ccc40b1bac2e87ba0..005d6a2531361aac05753527f467056395c7e73b 100644
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sI=Q%7IGGzdIvF@xSQxvy+9}u&RuVh?;Y}{N>2-YE65CfNa)&bk0FcT>+W-In

delta 239
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From d977059b81e1299c0842c1e555c323f3ba445c68 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 19:01:56 +0000
Subject: [PATCH 031/133] (fix) added error logs to starting CARLA container

---
 srunner/tools/CARLA_manager.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/srunner/tools/CARLA_manager.py b/srunner/tools/CARLA_manager.py
index 03ab725..aae9d91 100644
--- a/srunner/tools/CARLA_manager.py
+++ b/srunner/tools/CARLA_manager.py
@@ -32,7 +32,7 @@ def _load_config(config: CARLA) -> None:
         CARLAManager.FIXED_DELTA_SECONDS = config.FIXED_DELTA_SECONDS
 
         CARLAManager.run_command = [
-            f"docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port={CARLAManager.port} -quality-level={CARLAManager.fidelity}"
+            f"docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v {CARLAManager.recording_dir}:/home/carla/recordings:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port={CARLAManager.port} -quality-level={CARLAManager.fidelity}"
         ]
 
     @staticmethod
@@ -55,6 +55,10 @@ def start_carla():
                 env=env,
             )
             logger.info(f"Started CARLA container {result.stdout.strip()}")
+
+            if result.stderr:
+                logger.error(f"Error starting CARLA container: {result.stderr.strip()}")
+
             CARLAManager.container_id = result.stdout.strip()
         else:
             CARLAManager.restart_carla()

From 31bf7356a2792b02b7a98bd2ec4a7d31b719ccf8 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:02:53 +0000
Subject: [PATCH 032/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 005d6a2531361aac05753527f467056395c7e73b..fbbaca7596d9fad8527f0e28f16f1aab8719c98e 100644
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NxFxo)PUH?}0su!|Oxyqf


From d5fd4aa0ea7e26eed1fb5be58af50cc722ccc5ae Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 19:13:42 +0000
Subject: [PATCH 033/133] (fix) using absolute path for bind mount

---
 srunner/tools/results_manager.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/srunner/tools/results_manager.py b/srunner/tools/results_manager.py
index c0a8d71..ef8929c 100644
--- a/srunner/tools/results_manager.py
+++ b/srunner/tools/results_manager.py
@@ -9,6 +9,7 @@
 import datetime
 
 import json
+from pathlib import Path
 from srunner.scenario_decoder.json_to_xml_files import XMLToFiles
 from srunner.tools.CARLA_manager import CARLAManager
 
@@ -72,7 +73,7 @@ def _create_scenario_folder(self, iteration: str, results_folder: str):
 
         # make the recordings folder
         os.makedirs(os.path.join(full_path, "recording"), exist_ok=True)
-        self.recording_path = os.path.join(full_path, "recording")
+        self.recording_path = Path(os.path.join(full_path, "recording")).resolve()
 
         os.makedirs(full_path, exist_ok=True)  # exist_ok=True, no need to error handle
         self.last_scenario = full_path

From d11a1417f86af32fae9319faeb613c73b54be77e Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:14:34 +0000
Subject: [PATCH 034/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index fbbaca7596d9fad8527f0e28f16f1aab8719c98e..ba6a70668a37b4eeb7d88c6d80cdee32dc7dcd86 100644
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From 3a93d328182530da3c6ab3a22fd02752d52e0dab Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 19:33:46 +0000
Subject: [PATCH 035/133] (fix) swapped tick order

---
 cawsr.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index af332c2..e81447a 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -218,8 +218,8 @@ def run_scenario(
         budget = self._conf["initialisation_budget"]
         status = False
         for tick in range(1, budget + 1):
-            status = self.aw_agent.run_step_init()  # type: ignore
             self._tick_carla()
+            status = self.aw_agent.run_step_init()  # type: ignore
         if not status:
             logger.info("Agent failed to initialise route")
         else:

From c16edcb800eada61593ecc832624c63525bccb12 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:34:37 +0000
Subject: [PATCH 036/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index ba6a70668a37b4eeb7d88c6d80cdee32dc7dcd86..4d75ae83b85fc1a82a7fc7f3fd11597df95229f5 100644
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From 03de090dcad89dba6f44456786ff74e4f4f2553c Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 19:47:32 +0000
Subject: [PATCH 037/133] (fix) add initialising state to not wait for control
 command

---
 cawsr.py                                                      | 3 +++
 srunner/autoagents/autoware_agent.py                          | 1 +
 srunner/autoagents/autoware_carla_interface/carla_autoware.py | 3 +++
 srunner/autoagents/autoware_carla_interface/carla_ros.py      | 4 +++-
 4 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index e81447a..a43ff00 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -225,6 +225,9 @@ def run_scenario(
         else:
             logger.info("Successfully initialised agent; route set.")
 
+        # prepare the agent for execution
+        self.aw_agent.carla_interface.set_initialising(False)  # type: ignore
+
         logger.info("Loading Traffic Manager...")
         tm_port = int(self._carla.TRAFFIC_MANAGER.PORT)  # type: ignore
         CarlaDataProvider.set_traffic_manager_port(tm_port)
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 1fb615b..d71ab5d 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -89,6 +89,7 @@ def setup(self, config: EnvironmentConfig) -> None:
         self.initialised = False
 
         self.carla_interface.load_world()
+        self.carla_interface.set_initialising(not self.initialised)
         self.carla_interface.run_bridge()
 
     def set_route(self) -> None:
diff --git a/srunner/autoagents/autoware_carla_interface/carla_autoware.py b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
index ce6b070..cf65bc6 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_autoware.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
@@ -76,6 +76,9 @@ def run_bridge(self):
         self.bridge_loop.start_game_time = GameTime.get_time()
         self.bridge_loop.running = True
 
+    def set_initialising(self, initialising):
+        self.interface.initialising = initialising  # type: ignore
+
     def tick_bridge(self):
         timestamp = None
         world = CarlaDataProvider.get_world()
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 0e2bd8d..36eaebb 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -104,6 +104,7 @@ def __init__(self, node):
         self.clock_publisher.publish(obj_clock)
 
         self.carla_state = CarlaState.PLAY
+        self.initialising = True
 
         # load sensor config and create publishers
         sensors_config = pathlib.Path(
@@ -528,8 +529,9 @@ def run_step(self, input_data, timestamp):
         self.ego_status()
 
         # wait to receive a control command
-        while self.carla_state != CarlaState.CONTROL:
+        while self.carla_state != CarlaState.CONTROL and not self.initialising:
             pass
+
         return self.current_control
 
     def shutdown(self):

From 94c7b297809f6f268ec52aa930a20131d559e219 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:48:15 +0000
Subject: [PATCH 038/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 4d75ae83b85fc1a82a7fc7f3fd11597df95229f5..e5c2347d1248c093fa9777ada00e7e4f252daf52 100644
GIT binary patch
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From 2b0d9a75fa4c283aafcfb95cef8ad57087f298d0 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 19:59:21 +0000
Subject: [PATCH 039/133] (fix) replaced Gametime.get_time calls with
 datetime.datetime.now

---
 .../autoagents/autoware_carla_interface/carla_ros.py   | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 36eaebb..e7ecad7 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -214,7 +214,7 @@ def lidar(self, carla_lidar_measurement, id_):
         """Transform the received lidar measurement into a ROS point cloud message."""
         if self.checkFrequency(id_):
             return
-        self.publish_prev_times[id_] = GameTime.get_time()
+        self.publish_prev_times[id_] = datetime.datetime.now()
 
         header = self.get_msg_header(frame_id="velodyne_top_changed")
         fields = [
@@ -287,7 +287,7 @@ def pose(self):
         """Transform odometry data to Pose and publish Pose with Covariance message."""
         if self.checkFrequency("pose"):
             return
-        self.publish_prev_times["pose"] = GameTime.get_time()
+        self.publish_prev_times["pose"] = datetime.datetime.now()
 
         header = self.get_msg_header(frame_id="map")
         out_pose_with_cov = PoseWithCovarianceStamped()
@@ -364,7 +364,7 @@ def camera(self, carla_camera_data):
 
         if self.checkFrequency("camera"):
             return
-        self.publish_prev_times["camera"] = GameTime.get_time()
+        self.publish_prev_times["camera"] = datetime.datetime.now()
 
         image_data_array = numpy.ndarray(
             shape=(carla_camera_data.height, carla_camera_data.width, 4),
@@ -385,7 +385,7 @@ def imu(self, carla_imu_measurement):
         """Transform a received imu measurement into a ROS Imu message and publish Imu message."""
         if self.checkFrequency("imu"):
             return
-        self.publish_prev_times["imu"] = GameTime.get_time()
+        self.publish_prev_times["imu"] = datetime.datetime.now()
 
         imu_msg = Imu()
         imu_msg.header = self.get_msg_header(frame_id="tamagawa/imu_link_changed")
@@ -447,7 +447,7 @@ def ego_status(self):
         if self.checkFrequency("status"):
             return
 
-        self.publish_prev_times["status"] = GameTime.get_time()
+        self.publish_prev_times["status"] = datetime.datetime.now()
 
         # convert velocity from cartesian to ego frame
         trans_mat = numpy.array(self.ego_actor.get_transform().get_matrix()).reshape(

From c2bdd6ed475b708c16592d11d71ae2efe93c9fb8 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 20:00:10 +0000
Subject: [PATCH 040/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index e5c2347d1248c093fa9777ada00e7e4f252daf52..ec55a3cb9a91861e3703d16aea80e92131ad3df1 100644
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From bb03b4b493a9f85609a3056be80509473c31840b Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 20:09:15 +0000
Subject: [PATCH 041/133] (fix) removed carla_state

---
 srunner/autoagents/autoware_agent.py            |  1 -
 .../autoware_carla_interface/carla_autoware.py  |  3 ---
 .../autoware_carla_interface/carla_ros.py       | 17 -----------------
 3 files changed, 21 deletions(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index d71ab5d..1fb615b 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -89,7 +89,6 @@ def setup(self, config: EnvironmentConfig) -> None:
         self.initialised = False
 
         self.carla_interface.load_world()
-        self.carla_interface.set_initialising(not self.initialised)
         self.carla_interface.run_bridge()
 
     def set_route(self) -> None:
diff --git a/srunner/autoagents/autoware_carla_interface/carla_autoware.py b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
index cf65bc6..ce6b070 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_autoware.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
@@ -76,9 +76,6 @@ def run_bridge(self):
         self.bridge_loop.start_game_time = GameTime.get_time()
         self.bridge_loop.running = True
 
-    def set_initialising(self, initialising):
-        self.interface.initialising = initialising  # type: ignore
-
     def tick_bridge(self):
         timestamp = None
         world = CarlaDataProvider.get_world()
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index e7ecad7..3cc2584 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -28,7 +28,6 @@
 from geometry_msgs.msg import PoseWithCovarianceStamped
 import numpy
 import pathlib
-from enum import Enum
 from rosgraph_msgs.msg import Clock
 from sensor_msgs.msg import CameraInfo
 from sensor_msgs.msg import Image
@@ -57,12 +56,6 @@
 from srunner.tools.CARLA_manager import CARLAManager
 
 
-class CarlaState(Enum):
-    PLAY = 1
-    CONTROL = 2
-    STOP = 3
-
-
 class carla_ros2_interface(object):
     def __init__(self, node):
         self.sensor_interface = SensorInterface()
@@ -103,9 +96,6 @@ def __init__(self, node):
         obj_clock.clock = Time(sec=int(0))
         self.clock_publisher.publish(obj_clock)
 
-        self.carla_state = CarlaState.PLAY
-        self.initialising = True
-
         # load sensor config and create publishers
         sensors_config = pathlib.Path(
             "srunner/autoagents/autoware_carla_interface/objects/sensors.json"
@@ -440,7 +430,6 @@ def control_callback(self, in_cmd):
         out_cmd.brake = in_cmd.actuation.brake_cmd
 
         self.current_control = out_cmd
-        self.carla_state = CarlaState.CONTROL  # update state
 
     def ego_status(self):
         """Publish ego vehicle status."""
@@ -503,7 +492,6 @@ def ego_status(self):
         self.pub_gear_state.publish(out_gear_state)
 
     def run_step(self, input_data, timestamp):
-        self.carla_state = CarlaState.PLAY
         self.timestamp = timestamp
 
         seconds = int(self.timestamp)
@@ -528,12 +516,7 @@ def run_step(self, input_data, timestamp):
 
         self.ego_status()
 
-        # wait to receive a control command
-        while self.carla_state != CarlaState.CONTROL and not self.initialising:
-            pass
-
         return self.current_control
 
     def shutdown(self):
-        self.carla_state = CarlaState.STOP
         self.ros2_node.destroy_node()

From b32aff95813976e57baff85503c39ca09024732f Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 20:10:05 +0000
Subject: [PATCH 042/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index ec55a3cb9a91861e3703d16aea80e92131ad3df1..55d76b9b00fc1903170846be7b39fbb4b1fecb89 100644
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From 7c88eb09816d479327bc8d88e6816e9ad7d65efb Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 20:18:15 +0000
Subject: [PATCH 043/133] (fix) added CARLA cleanup

---
 cawsr.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index a43ff00..916af88 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -225,9 +225,6 @@ def run_scenario(
         else:
             logger.info("Successfully initialised agent; route set.")
 
-        # prepare the agent for execution
-        self.aw_agent.carla_interface.set_initialising(False)  # type: ignore
-
         logger.info("Loading Traffic Manager...")
         tm_port = int(self._carla.TRAFFIC_MANAGER.PORT)  # type: ignore
         CarlaDataProvider.set_traffic_manager_port(tm_port)
@@ -589,6 +586,9 @@ def destroy(self) -> None:
 
     def _cleanup(self) -> None:
         """Cleanup function. Removes instances of the CARLA client and WORLD, also destroys the Ego vehicle in CARLA."""
+        # stop CARLA
+        CARLAManager.stop_carla()
+
         try:
             if CarlaDataProvider.get_client() is not None:
                 CarlaDataProvider.get_client().get_trafficmanager(

From 5467b3e76d9642d89880df5762b0c3569b8f5e49 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 20:19:11 +0000
Subject: [PATCH 044/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 55d76b9b00fc1903170846be7b39fbb4b1fecb89..a7af9f5d70a01c5ed9509709a6c0b56a96d24eb3 100644
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From d5a83ebc49c20a6eff6b7bff69445e655a7aa889 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 25 Feb 2026 20:44:25 +0000
Subject: [PATCH 045/133] (fix) applied changes to fix runtime errors during
 execution

---
 cawsr.py                                      |  8 ++--
 srunner/autoagents/autoware_agent.py          | 46 +++++++++----------
 .../autoagents/autoware_nodes/state_node.py   | 20 ++++++--
 3 files changed, 43 insertions(+), 31 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 916af88..80683c5 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -597,9 +597,11 @@ def _cleanup(self) -> None:
         except RuntimeError:
             sys.exit(-1)
 
-        self.scenario_manager.cleanup()
+        if self.scenario_manager is not None:
+            self.scenario_manager.cleanup()
 
-        CarlaDataProvider.cleanup()
+        if CarlaDataProvider is not None:
+            CarlaDataProvider.cleanup()
 
         for i, _ in enumerate(self.ego_vehicles):
             if self.ego_vehicles[i]:
@@ -612,7 +614,7 @@ def _cleanup(self) -> None:
         self.ego_vehicles = []
 
         if self.aw_agent:
-            self.aw_agent.destroy()
+            self.aw_agent.destroy(cleanup=True)
             self.aw_agent = None
 
 
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 1fb615b..e14ce9a 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -68,22 +68,25 @@ def setup(self, config: EnvironmentConfig) -> None:
             self.autoware_state, self._node_state
         )
 
-        # run state note and cawsr bridge in separate executors
-        self._executors = [
-            rclpy.executors.SingleThreadedExecutor(),
-            rclpy.executors.SingleThreadedExecutor(),
-        ]
+        try:
+            # run state note and cawsr bridge in separate executors
+            self._executors = [
+                rclpy.executors.SingleThreadedExecutor(),
+                rclpy.executors.SingleThreadedExecutor(),
+            ]
 
-        self._executors[0].add_node(self._node)
-        self._executors[1].add_node(self._node_state)
+            self._executors[0].add_node(self._node)
+            self._executors[1].add_node(self._node_state)
 
-        self._executor_threads = [
-            threading.Thread(target=self._executors[0].spin, daemon=True),
-            threading.Thread(target=self._executors[1].spin, daemon=True),
-        ]
+            self._executor_threads = [
+                threading.Thread(target=self._executors[0].spin, daemon=True),
+                threading.Thread(target=self._executors[1].spin, daemon=True),
+            ]
 
-        for thread in self._executor_threads:
-            thread.start()
+            for thread in self._executor_threads:
+                thread.start()
+        except rclpy.executors.ExternalShutdownException:
+            logger.info("Node Executor shutdown externally...")
 
         self.sent_route = False
         self.initialised = False
@@ -119,10 +122,14 @@ def _convert_to_waypoint(self, point):
             node=self._node,
         )
 
-    def destroy(self) -> None:
+    def destroy(self, cleanup=False) -> None:
         """Cleanup"""
         logger.info("Sending shutdown signal to autoware...")
-        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
+        if not cleanup:
+            self.state_node.reset_autoware(self.config.town, self.config.ego_name)
+        else:
+            self.state_node.shutdown_autoware()
+
         logger.info("Waiting for shutdown. Starting Node cleanup")
         time.sleep(1)  # sleep for 1 second for sanity
         try:
@@ -134,9 +141,6 @@ def destroy(self) -> None:
         except RuntimeError:
             logger.info("Failed to clean up executor thread...")
 
-    def cleanup(self) -> None:
-        self.destroy()
-
     def run_step_init(self) -> bool:
         """Route Initialisation loop
 
@@ -182,12 +186,6 @@ def run_step(self) -> None:
             )
             self.last_tick = time.perf_counter_ns()
 
-        # if not self.initialised:
-        #    self.initialised = self.run_step_init()
-        #
-        #    if self.initialised:
-        #        logger.info("Set agent route!")
-
         # check if the current route is set and we can publish engage
         if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
             self.autoware_node.publish_engage(True)
diff --git a/srunner/autoagents/autoware_nodes/state_node.py b/srunner/autoagents/autoware_nodes/state_node.py
index aeb0c8a..5814255 100644
--- a/srunner/autoagents/autoware_nodes/state_node.py
+++ b/srunner/autoagents/autoware_nodes/state_node.py
@@ -5,22 +5,20 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-from rclpy.node import Node
 from tier4_planning_msgs.msg import RouteState
 from autoware_adapi_v1_msgs.msg import MotionState
 from autoware_adapi_v1_msgs.msg import LocalizationInitializationState
 from srunner.autoagents.agent_state import autoware_state
 import logging
 
-from autoware_cawsr_msgs.msg import AutowareRestart
-import logging
+from autoware_cawsr_msgs.msg import AutowareRestart, AutowareShutdown
 
 
 logger = logging.getLogger("scenario-runner")
 logger.propagate = False
 
 
-class StateNode():
+class StateNode:
     route_state = "/planning/mission_planning/state"
     motion_state = "/api/motion/state"
     localize_state = "/api/localization/initialization_state"
@@ -48,6 +46,10 @@ def __init__(self, autoware_state: autoware_state.AutowareState, node) -> None:
             AutowareRestart, self.reset_topic, 10
         )
 
+        self.shutdown_autoware_pub = self.node.create_publisher(
+            AutowareShutdown, "/autoware/shutdown", 10
+        )
+
     def route_state_cb(self, route_state_msg: RouteState) -> None:
         """Set the AutowareState attribute route_state
 
@@ -86,3 +88,13 @@ def reset_autoware(self, carla_map: str, ego_name: str):
         msg.ego_name = str(ego_name)
 
         self.restart_autoware_pub.publish(msg)
+
+    def shutdown_autoware(self):
+        """Publishes an empty message to shutdown autoware."""
+
+        # fill with dummy data, since this topic only handles shutting autoware down
+        msg = AutowareShutdown()
+        msg.carla_map = "Town01"
+        msg.ego_name = "ego_vehicle"
+
+        self.shutdown_autoware_pub.publish(msg)

From 9297018a32eb3df94c757992aa2872377d3b960e Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 25 Feb 2026 20:45:13 +0000
Subject: [PATCH 046/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index a7af9f5d70a01c5ed9509709a6c0b56a96d24eb3..0fec4539e1671bb18920c08e425aa7f85fcd7724 100644
GIT binary patch
delta 239
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z*Nm)S;pr(yIL)EV1xGk7A<XUfj&Mpasw5ev7#ahCuCb+ofv$<ENwThmS+a?4vL%pd
zVrXGuWM<wjb&PYn)G;pEJ{A*G1H<XoA>5K+*7k@H?&~~m2IiJ-hE7IKZf4GIt}bq7
r#zxLgE=G=yMn(pXE=I;?b_zCxmBdbec#}(RdL19P#P-#R+~G_BjmbmN

delta 239
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWeX3oBELsOc9Ea!O3!dze#Td&wcr
z*Nm)S;pr(yIL)EV1xGk7A<XUfj&Mpas#sW9q$H;%TIgCBnVIXFq?xDbCMG2r>Kdn-
zn3<cVnI{?>TeeFb<J>NFj7zqU#n8gkV!Cw*w<MUgJtBnrI**&7sfnAbv9q(GnW=@N
ufq}D`nWLeZk+Hdxk%@(?tFeonf(>CMvC|*k<dU0S$Hy(PeRU#tI1>OuLqx~`


From a487fe0f779c79c3ceac9041d1d0e482d4395085 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 26 Feb 2026 16:38:26 +0000
Subject: [PATCH 047/133] updated dockerfile to run as carla users

---
 Dockerfile | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 3c814b0..8d81804 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,6 +3,10 @@ FROM osrf/ros:humble-desktop
 RUN apt -y update && \
     apt install --no-install-recommends -y libpng16-16 libtiff5 libjpeg8 build-essential curl wget git libxerces-c-dev python3-pip vim
 
+# Create carla user with same UID/GID as the CARLA simulator container
+RUN groupadd -g 1000 carla && \
+    useradd -m -u 1000 -g carla -s /bin/bash carla
+
 # clone repo
 COPY . /autoware_scenario_runner
 
@@ -50,11 +54,19 @@ RUN mkdir /cyclonedds && \
     mv /autoware_scenario_runner/docker/cyclonedds_local.xml /cyclonedds/ && \
     mv /autoware_scenario_runner/docker/cyclonedds_distributed.xml /cyclonedds/ && \
     rm -rf /autoware_scenario_runner/docker && \
-    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
-    echo "alias rossrc='source ${AUTOWARE_MSG_PKG} && source ${ROS_PKG} && echo Sourced'" >> ~/.bashrc && \
-    source ~/.bashrc
+    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/carla/.bashrc && \
+    echo "alias rossrc='source ${AUTOWARE_MSG_PKG} && source ${ROS_PKG} && echo Sourced'" >> /home/carla/.bashrc
 
 ENV CARLA_API_ROOT="/autoware_scenario_runner/PythonAPI"
 ENV PYTHONPATH="${PYTHONPATH}:${CARLA_API_ROOT}/carla/agents:${CARLA_API_ROOT}/carla"
 
+# Give carla user ownership of necessary directories
+RUN chown -R carla:carla /autoware_scenario_runner && \
+    chown -R carla:carla /ros_workspace && \
+    chown -R carla:carla /cyclonedds && \
+    usermod -aG docker carla
+
+# Switch to carla user
+USER carla
+
 ENTRYPOINT [ "/autoware_scenario_runner/entrypoint.sh" ]

From d31959c7eb6e3e686318361cdc033fb5d8c0cb12 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 26 Feb 2026 16:40:08 +0000
Subject: [PATCH 048/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 0fec4539e1671bb18920c08e425aa7f85fcd7724..e7740beae7121cc078e4d573c2c22f2d1a836102 100644
GIT binary patch
delta 281
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zV0+0S&S#8V2)XGgM>vg;`3sJ4njrDF-#fx7!Kjj&mXd5@Xl$%&nUrLxYhsaNuA7)@
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zMo`J^5h2{ydE6`<-OQW~T}@3bom?HwjGY}_4O|SI%$=Owj7?ok3=QoRYzQlfo&NA9
Rm)!I^K5mKas}s4ynE)x>PxAl(

delta 281
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+;~{R-5F-OC6H_Y#!>H*O4{}OO-+P!-
zV0+0S&S#8V2)XGgM>vg;`3sJ4njrDF-#fx7!KjjCm||!Q1iHqS1_rt&rY6a{7G}vN
zy2+M6rir12g^`(gyVNnx?NZ0Mr214$jSNgoffj2j==<iUxFnXODrmS^85tOv85kKs
zCAUX}a9`(fGcdPwGjuX?ax-&wb9HeuGd6N|axrprG%_-9bTKkEvs17ktR!~&!<$@k
Q)9d)SCAP0l<PK*70PAN>_5c6?


From 0694b1070630fbcef503e9ad98f9bb933ceb29a2 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 14 Mar 2026 22:53:42 +0000
Subject: [PATCH 049/133] added additional documentation to setup development
 environment

---
 CONTRIBUTING.md       |  2 ++
 README.md             | 12 ++++---
 dev/Dockerfile        | 77 +++++++++++++++++++++++++++++++++++++++++++
 dev/pull_workspace.sh |  4 +++
 docs/DEVELOPMENT.md   | 29 ++++++++++++++++
 5 files changed, 119 insertions(+), 5 deletions(-)
 create mode 100644 dev/Dockerfile
 create mode 100644 dev/pull_workspace.sh
 create mode 100644 docs/DEVELOPMENT.md

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 0f7da7b..10aef04 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -2,6 +2,8 @@
 
 Thank you for your interest in this project! We welcome contributions from the community.
 
+To setup the development environment, please refer to the [docs/DEVELOPMENT.md](docs/DEVELOPMENT.md) file.
+
 ## How to Contribute
 1.  **Fork the repository** on GitHub.
 2.  **Create a new branch** for your feature or bug fix.
diff --git a/README.md b/README.md
index 36f7b21..60a8ce0 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
+For development and contributing docs see [docs/DEVELOPMENT.md](docs/DEVELOPMENT.md)
+
 CAWSR: ScenarioRunner for CARLA with support for Autoware
 ========================
 
@@ -7,9 +9,9 @@ CAWSR (Carla Autoware Scenario Runner) is a scenario execution engine built for
 
 Prerequisites
 ---------------------------
-Both CARLA and Autoware require a high-spec computer with a high-end Nvidia GPU. It is also possible to run a [**distributed**]() setup with multiple machines to help ease the workload, or run the entire stack locally. Currently, only Linux is supported (guide was written on Ubuntu 24.04).
+Both CARLA and Autoware require a high-spec computer with a high-end Nvidia GPU. It is also possible to run a [**distributed**](#distributed) setup with multiple machines to help ease the workload, or run the entire stack locally. Currently, only Linux is supported (guide was written on Ubuntu 24.04).
 
-Ensure the target machine(s) have the [Docker Engine]() and [Nvidia Container toolkit]() installed to enable gpu accelerated workflows in Docker.
+Ensure the target machine(s) have the [Docker Engine](https://docs.docker.com/engine/install/) and [Nvidia Container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) installed to enable gpu accelerated workflows in Docker.
 
 CAWSR Setup
 ---------------------------
@@ -173,10 +175,10 @@ We use a custom implementation of a scenario definition in JSON. We have include
 Domain Model:
 ![Domain Model](./docs/resources/scenario_domain.png)
 
-Contributing
-------------
+Contributing & Development
+--------------------------
 
-Please take a look at our [Contribution guidelines]().
+Please take a look at our [Contribution guidelines](CONTRIBUTING.md). To setup a development container, follow our [development guidelines](docs/DEVELOPMENT.md)
 
 License
 -------
diff --git a/dev/Dockerfile b/dev/Dockerfile
new file mode 100644
index 0000000..2c84892
--- /dev/null
+++ b/dev/Dockerfile
@@ -0,0 +1,77 @@
+FROM osrf/ros:humble-desktop
+
+RUN apt -y update && \
+    apt install --no-install-recommends -y libpng16-16 libtiff5 libjpeg8 build-essential curl wget git libxerces-c-dev python3-pip vim
+
+# Create carla user with same UID/GID as the CARLA simulator container
+RUN groupadd -g 1000 carla && \
+    useradd -m -u 1000 -g carla -s /bin/bash carla && \
+    mkdir /autoware_scenario_runner && \
+    mkdir /container_tools
+
+# clone repo
+COPY ./docker /autoware_scenario_runner/docker
+COPY ./requirements.txt /autoware_scenario_runner/requirements.txt
+COPY ./entrypoint.sh /container_tools/entrypoint.sh
+
+WORKDIR /autoware_scenario_runner
+
+SHELL [ "/bin/bash", "-c" ]
+
+RUN mkdir /ros_workspace/ &&  \
+    cd /ros_workspace/ && \
+    mv /autoware_scenario_runner/docker/autoware_msgs.tar.xz /ros_workspace/ && \
+    tar -xvf /ros_workspace/autoware_msgs.tar.xz && \
+    rm -rf /ros_workspace/autoware_msgs.tar.xz && \
+    source /opt/ros/humble/setup.bash && \
+    apt-get update && \
+    apt-get install -y ros-humble-rmw-cyclonedds-cpp ros-humble-tf-transformations && \
+    rosdep install -i --from-path /ros_workspace/autoware_msgs/src --rosdistro humble -y &&  cd autoware_msgs && \
+    colcon build
+
+ENV AUTOWARE_MSG_PKG="/ros_workspace/autoware_msgs/install/setup.bash"
+ENV ROS_PKG="/opt/ros/${ROS_DISTRO}/setup.bash"
+
+# install docker inside container
+RUN apt-get update -y && \
+    apt-get install ca-certificates curl -y && \
+    install -m 0755 -d /etc/apt/keyrings && \
+    curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc && \
+    chmod a+r /etc/apt/keyrings/docker.asc && \
+    echo \
+        "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
+        $(. /etc/os-release && echo "${UBUNTU_CODENAME:-$VERSION_CODENAME}") stable" | \
+        tee /etc/apt/sources.list.d/docker.list > /dev/null && \
+    apt-get update -y && \
+    apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y
+
+# install pip packages and setup docker entrypoint
+RUN python3 -m pip install -r requirements.txt && \
+    mv docker/PythonAPI.tar ./ && \
+    tar -xvf PythonAPI.tar && \
+    rm -rf PythonAPI.tar && \
+    cd /container_tools && \
+    chmod +x /container_tools/entrypoint.sh && \
+    mkdir logs
+
+# update CYCLONE DDS Config for ROS
+RUN mkdir /cyclonedds && \
+    mv /autoware_scenario_runner/docker/cyclonedds_local.xml /cyclonedds/ && \
+    mv /autoware_scenario_runner/docker/cyclonedds_distributed.xml /cyclonedds/ && \
+    rm -rf /autoware_scenario_runner/docker && \
+    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/carla/.bashrc && \
+    echo "alias rossrc='source ${AUTOWARE_MSG_PKG} && source ${ROS_PKG} && echo Sourced'" >> /home/carla/.bashrc
+
+ENV CARLA_API_ROOT="/autoware_scenario_runner/PythonAPI"
+ENV PYTHONPATH="${PYTHONPATH}:${CARLA_API_ROOT}/carla/agents:${CARLA_API_ROOT}/carla"
+
+# Give carla user ownership of necessary directories
+RUN chown -R carla:carla /autoware_scenario_runner && \
+    chown -R carla:carla /ros_workspace && \
+    chown -R carla:carla /cyclonedds && \
+    usermod -aG docker carla
+
+# Switch to carla user
+USER carla
+
+ENTRYPOINT [ "/container_tools/entrypoint.sh" ]
diff --git a/dev/pull_workspace.sh b/dev/pull_workspace.sh
new file mode 100644
index 0000000..d5ebe7d
--- /dev/null
+++ b/dev/pull_workspace.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+cd ..
+git clone https://github.com/Intelligent-Testing-Lab/cawsr_workspace.git
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
new file mode 100644
index 0000000..fd67b00
--- /dev/null
+++ b/docs/DEVELOPMENT.md
@@ -0,0 +1,29 @@
+# Development
+## Setup
+
+Firstly, ensure you have the dependencies installed, and successfuly set up CAWSR following the [README.md](../README.md).
+Next, move `dev/Dockerfile` to the root directory and build the development image:
+```bash
+docker build -f Dockerfile -t cawsr_dev .
+```
+
+This will create a docker image tagged `cawsr_dev` that you can use for development.
+
+## Workspace
+To pull the cawsr workspace into the root of the repository, use the following script:
+```bash
+chmod +x dev/pull_workspace.sh
+./dev/pull_workspace.sh
+```
+This will be mounted into the dev container to allow you to configure CAWSR as usual. See [README.md](../README.md) for more information on configuring CAWSR.
+
+## Running CAWSR
+The `dev/docker-compose.yml` file includes the services needed to launch the development container. Ensure the file is in the root of the repository and run:
+```bash
+docker-compose -f dev/docker-compose.yml up cawsr autoware-latest
+```
+
+Development follows a similar pattern to the operation of CAWSR - simply start the autoware container and CAWSR. The `cawsr_dev` image mounts root of the repository into the container, so any changes you make are applied in CAWSR.
+
+## Contributing
+See [CONTRIBUTING.md](../CONTRIBUTING.md)

From 6bfd222c3f6b86bec9ae5266f2626ce2a2a7f2e1 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 14 Mar 2026 22:54:44 +0000
Subject: [PATCH 050/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index e7740beae7121cc078e4d573c2c22f2d1a836102..8f04ea11741a64a743ffcd3a5bd22ad668d2d47e 100644
GIT binary patch
delta 295
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delta 295
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+-61|BT_dv)Lo+L5ODj{esOc9Ea!O3!
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z-NaNAGu>npGa~~7Q<G$%f_AB6oZF?2aY^*485x-wni*RH-Jq$U@0*|El30?epy6U=
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V=?`ym$xW~0<CfUII*~h^2>`OEQkwt(


From ea854b65353018aecd58b7530a9793622f465ac1 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 15 Mar 2026 19:09:10 +0000
Subject: [PATCH 051/133] (feat) completed and tested development container

---
 .gitignore            |  6 ++++++
 dev/Dockerfile        | 11 +++++++----
 dev/pull_workspace.sh |  2 ++
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/.gitignore b/.gitignore
index f84e11c..2b10e0f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,3 +32,9 @@ jats
 paper
 logs
 typings
+cawsr_workspace
+tools
+scenarios
+algorithms
+configs
+results
diff --git a/dev/Dockerfile b/dev/Dockerfile
index 2c84892..45eec4a 100644
--- a/dev/Dockerfile
+++ b/dev/Dockerfile
@@ -47,9 +47,10 @@ RUN apt-get update -y && \
 
 # install pip packages and setup docker entrypoint
 RUN python3 -m pip install -r requirements.txt && \
-    mv docker/PythonAPI.tar ./ && \
-    tar -xvf PythonAPI.tar && \
-    rm -rf PythonAPI.tar && \
+    mkdir -p /carla_api && \
+    mv /autoware_scenario_runner/docker/PythonAPI.tar /carla_api/ && \
+    tar -xvf /carla_api/PythonAPI.tar -C /carla_api && \
+    rm -rf /carla_api/PythonAPI.tar && \
     cd /container_tools && \
     chmod +x /container_tools/entrypoint.sh && \
     mkdir logs
@@ -62,11 +63,13 @@ RUN mkdir /cyclonedds && \
     echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/carla/.bashrc && \
     echo "alias rossrc='source ${AUTOWARE_MSG_PKG} && source ${ROS_PKG} && echo Sourced'" >> /home/carla/.bashrc
 
-ENV CARLA_API_ROOT="/autoware_scenario_runner/PythonAPI"
+ENV CARLA_API_ROOT="/carla_api/PythonAPI"
 ENV PYTHONPATH="${PYTHONPATH}:${CARLA_API_ROOT}/carla/agents:${CARLA_API_ROOT}/carla"
 
 # Give carla user ownership of necessary directories
 RUN chown -R carla:carla /autoware_scenario_runner && \
+    chown -R carla:carla /carla_api && \
+    chown -R carla:carla /container_tools && \
     chown -R carla:carla /ros_workspace && \
     chown -R carla:carla /cyclonedds && \
     usermod -aG docker carla
diff --git a/dev/pull_workspace.sh b/dev/pull_workspace.sh
index d5ebe7d..08040a0 100644
--- a/dev/pull_workspace.sh
+++ b/dev/pull_workspace.sh
@@ -2,3 +2,5 @@
 
 cd ..
 git clone https://github.com/Intelligent-Testing-Lab/cawsr_workspace.git
+
+find . -maxdepth 1 ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} /path/to/destination/ \;

From 3e97bc3b1c8d5b2f70b456f38ecdb5660bac12da Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sun, 15 Mar 2026 19:26:52 +0000
Subject: [PATCH 052/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 8f04ea11741a64a743ffcd3a5bd22ad668d2d47e..daa871c3c58b4857c92b80bc3f9ac68f058f00bd 100644
GIT binary patch
delta 279
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delta 279
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From aeeb1bbfbf659ec7334321fb403007265d2a9087 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 22 Apr 2026 11:45:46 +0100
Subject: [PATCH 053/133] updated lidar settings to improve detection accuracy

---
 .../autoagents/autoware_carla_interface/objects/sensors.json  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/objects/sensors.json b/srunner/autoagents/autoware_carla_interface/objects/sensors.json
index 3b4e4b0..e4fc2b6 100644
--- a/srunner/autoagents/autoware_carla_interface/objects/sensors.json
+++ b/srunner/autoagents/autoware_carla_interface/objects/sensors.json
@@ -28,8 +28,8 @@
         "yaw": 0.0
       },
       "range": 100,
-      "channels": 64,
-      "points_per_second": 300000,
+      "channels": 128,
+      "points_per_second": 1200000,
       "upper_fov": 10.0,
       "lower_fov": -30.0,
       "rotation_frequency": 20,

From 99cf5bf2de1d2ec7c27d1fa316f9e05b0dbab790 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 22 Apr 2026 10:46:35 +0000
Subject: [PATCH 054/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index daa871c3c58b4857c92b80bc3f9ac68f058f00bd..c3a93e91ddf6ba3abda3690a9266bcb3c6b039ba 100644
GIT binary patch
delta 295
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+-61{`T_d9qLjx-lGb<yLsOc9Ea!O3!
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R<fhm0aZ7ApoyZ-|1OSd~QiK2i

delta 295
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+-61|>T|?6lLrW_oGb<CrsOc9Ea!O3!
zdze#Td&wcr$Beuv($iCpaO$H8EjYqyh$^)G-Vsg-MimPq1B1j=lVn{Jvt$z>VPvM8
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V{oze6x#@L$+!EVYCvt}~0RR(vQGfsd


From 6ee91aeb1f16eb2582f46cb833edf41d65c33b6c Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 22 Apr 2026 15:33:09 +0100
Subject: [PATCH 055/133] (feat) added additional camera publishing for
 yolo-based object detection

---
 .../autoware_carla_interface/carla_ros.py      | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 3cc2584..d2736f7 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -144,9 +144,13 @@ def __init__(self, node):
                     CameraInfo, "/sensing/camera/traffic_light/camera_info", 1
                 )
 
-                # self.pub_camera_yolo_info = self.ros2_node.create_publisher(
-                #   CameraInfo, "/sensing/camera/0/camera_info", 1
-                # )
+                self.pub_camera_yolo_info = self.ros2_node.create_publisher(
+                    CameraInfo, "/sensing/camera/0/camera_info", 1
+                )
+
+                self.pub_camera_yolo = self.ros2_node.create_publisher(
+                    Image, "/sensing/camera/0/image_raw", 1
+                )
 
             elif sensor["type"] == "sensor.lidar.ray_cast":
                 if sensor["id"] in self.sensor_frequencies:
@@ -371,6 +375,14 @@ def camera(self, carla_camera_data):
         self.pub_camera_info.publish(cam_info)
         self.pub_camera.publish(img_msg)
 
+        # build another message to publish for yolo
+        img_msg.header = self.get_msg_header(frame_id="0/camera_optical_link")
+
+        cam_info = self._camera_info
+        cam_info.header = img_msg.header
+        self.pub_camera_yolo_info.publish(cam_info)
+        self.pub_camera_yolo.publish(img_msg)
+
     def imu(self, carla_imu_measurement):
         """Transform a received imu measurement into a ROS Imu message and publish Imu message."""
         if self.checkFrequency("imu"):

From 6073e5f960e20680171287550efebd436389b8a5 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 22 Apr 2026 14:37:48 +0000
Subject: [PATCH 056/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index c3a93e91ddf6ba3abda3690a9266bcb3c6b039ba..5c05bebf2eca9550928ed32cf8d58db35093eef4 100644
GIT binary patch
delta 267
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+%OMUED`RsjW7DYV7Y}kuOy7H$Q($|^
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zA>7w_+zee@oQ=#aEG^s&Ee*^K%?%9=44h0%%p8pz4GfGNjqMa{2rG%5{_rN3-1Is=
MZi(%y6S>2g0Hv}@@&Et;

delta 267
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+%OMT}D-$y-Ba^7<7Y}kuOy7H$Q($|^
zA<mbK>`;m6DMvU>;hY6WIL%?4?e~swN-(OJ86_np0SR5RWRqlF6B9Ed-9(^}u9=ZR
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z+}C;BOie8;jg3u=4P4!vj9n~UjGP>eTwRP@oPcas0}Dqx1slRjVy8d6$t5?vj*nYn
K`|3pQa3%mAFHDmF


From d73b9924fc83d31ff4a8731cf9f14953fc74663a Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 22 Apr 2026 15:51:53 +0100
Subject: [PATCH 057/133] (docs) updated docstrings

---
 cawsr.py | 100 ++++++++++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 80 insertions(+), 20 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 80683c5..5ebb64e 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -67,8 +67,12 @@ class AWScenarioRunner(object):
     aw_agent = None  # autoware agent
 
     def __init__(self, cawsr_config: dict, carla_conf: CARLA) -> None:
-        """
-        Setup Scenario Manager and the Carla client
+        """Initialises CAWSR, loading the Autoware agent module and setting up signal handlers for cleanup on shutdown.
+        Also initialises the ScenarioDefinitionManager for managing results directories and files.
+
+        Args:
+            cawsr_config (dict): CAWSR configuration options loaded from YAML file
+            carla_conf (CARLA): CARLA-specific configuration options loaded from YAML file
         """
         self.DEBUG = cawsr_config["debug"]
         self._conf = cawsr_config
@@ -120,6 +124,18 @@ def run_scenario(
         current_definiton: Union[dict, None],
         algorithm: Union[Callable, None],
     ) -> None:
+        """Starts the CAWSR scenario based on the provided configuration and seed
+        Handles connection to the Autoware agent and CARLA client, and runs the scenario manager until the scenario is complete or a shutdown signal is received.
+        Args:
+            route_config (RouteScenarioConfiguration): RouteSCenarioConfiguration object configuration
+            env_config (EnvironmentConfig): EnvironmentConfig object containing the environment configuration
+            scenario_name (str): Name of the scenario to run
+            seed (int): Random seed for reproducibility
+            algorithm_mode (bool): Whether to load algorithmic scenario generation loop, or just execute scenarios in sequence
+            result_ (_type_): Result object for storing scenario results
+            current_definiton (Union[dict, None]): Optional dict containing the current scenario definition, used for algorithmic scenario generation
+            algorithm (Union[Callable, None]): Optional Callable algorithm class, used for algorithmic scenario generation. See docs for expected interface.
+        """
         logger.info("Initialising Scenario Manager...")
         self.scenario_manager = ScenarioManager(
             self.DEBUG,
@@ -200,18 +216,14 @@ def run_scenario(
 
         logger.info("Loading route...")
 
-        # TO DO
-        # interpolate route at a larger distance (i.e 5m) to reduce waypoints
-        # remove segment sampling from awagent.set_route
         gps_route, route = route_manipulation.interpolate_trajectory(
             route_config.keypoints
         )
         route_config.agent.set_global_plan(gps_route, route)  # set agent route
 
-        # visualise the route in CARLA
+        # visualise the route in CARLA and set location to first waypoint
         visualise_route([waypoint[0] for waypoint in route])
-
-        ego.prepare_ego(route[0][0])  # set location to first waypoint
+        ego.prepare_ego(route[0][0])
 
         # allow the agent X ticks to initialize sensors and set the route
         logger.info("Initialising agent route...")
@@ -265,6 +277,7 @@ def run_scenario(
             result = False
 
         self.carla_client.stop_recorder()
+
         # stop the MetricsCollector thread
         MetricsCollector.reset()
 
@@ -292,6 +305,7 @@ def run_scenario(
         result_.put(result_dict)
 
     def _tick_carla(self) -> None:
+        """Advances CARLA 1 tick into the future"""
         timestamp = None
         world = CarlaDataProvider.get_world()
         if world:
@@ -323,9 +337,11 @@ def _load_alg(self) -> type[BasicAlgorithm]:
         )
 
     def run_algorithm(self) -> None:
-        """Executes CAWSR in algorithm mode"""
+        """Executes CAWSR in algorithm mode, loading a custom algorithm interface for scenario generation and optimisation.
+        Scenarios are generated iteratively based on the previous scenario's performance, and the initial scenario definition provided.
+        """
 
-        # load the algorithm and scenario defintion
+        # load the algorithm and scenario definitions
         optimisation_algorithm = self._load_alg()
         scenario = pathlib.Path(self._conf["algorithm"]["initial_definition"])
 
@@ -374,7 +390,7 @@ def run_algorithm(self) -> None:
             )
 
     def run_benchmark(self) -> None:
-        """Executes CAWSR in benchmark mode. Scenarios are loaded from the target directory"""
+        """Executes CAWSR in benchmark mode. Scenarios are loaded from the target directory, and either executed in sequence or randomly sampled based on a seed."""
         target_dir = pathlib.Path(self._conf["benchmark"]["scenarios"])
         scenarios = [scenario for scenario in target_dir.glob("*.json")]
 
@@ -384,7 +400,7 @@ def run_benchmark(self) -> None:
 
             if self._conf["benchmark"]["random_sampling"]:
                 scenario = random.choice(scenarios)
-                scenarios.remove(scenario)  # each scenario can only be picked once
+                scenarios.remove(scenario)  # each scenario can only be executed once
             else:
                 scenario = scenarios[i]
 
@@ -427,6 +443,21 @@ def _cawsr_process(
         current_definiton: Union[dict, None] = None,
         algorithm: Union[Callable, None] = None,
     ) -> Optional[dict]:
+        """Spawns a CAWSR process to execute a given, configured scenario.
+        Handles setup, execution, and teardown of the scenario, and returns the scenario definition if in algorithm mode for use in the next iteration of the algorithm.
+
+        Args:
+            route_config (RouteScenarioConfiguration): Scenario configuration object containing the route and agent information
+            env_config (EnvironmentConfig): Scenario configuration object containing the environment information, such as weather and town
+            scenario_name (str): Name of the scenario, used for results management and logging
+            run (int): Current run number, used for logging and results management
+            algorithm_mode (bool, optional): Whether to run in algorithm mode. Defaults to False.
+            current_definiton (Union[dict, None], optional): The current scenario definition. Defaults to None.
+            algorithm (Union[Callable, None], optional): The algorithm to use. Defaults to None.
+
+        Returns:
+            Optional[dict]: The updated scenario definition if in algorithm mode, otherwise None.
+        """
         scenario_result = multiprocessing.Queue()
         scenario_result.put({"status": False, "criteria": {}})
 
@@ -463,8 +494,7 @@ def _cawsr_process(
             scenario_process.kill()
         self.results_manager.cleanup_xml()
 
-        # copy over the recording from CARLA container
-        time.sleep(1)  # ensure file is finished writing
+        time.sleep(1)
 
         # fetch execution status of the scenario (failure or success)
         status = result["status"]
@@ -487,8 +517,20 @@ def _load_scenario(
         save_def: bool = True,
         return_def: bool = False,
     ) -> Optional[dict]:
+        """Loads a given scenario from the JSON definition file
+
+        Args:
+            scenario_name (str): Name of the scenario, used for results management and logging
+            path (str): Path to the JSON definition file
+            run (int): Current run number, used for logging and results management
+            save_def (bool, optional): Whether to save the scenario definition. Defaults to True.
+            return_def (bool, optional): Whether to return the scenario definition. Defaults to False.
+
+        Returns:
+            Optional[dict]: The loaded scenario definition if `return_def` is True, otherwise None.
+        """
         try:
-            with open(path, "r", encoding="UTF-8") as raw_json:  # type: ignore
+            with open(path, "r", encoding="UTF-8") as raw_json:
                 json_definition = json.loads(raw_json.read())
         except FileNotFoundError:
             logger.info("JSON definition does not exist, exiting...")
@@ -521,6 +563,16 @@ def run(self) -> None:
     def _output_criteria(
         self, criteria, file_name: str, save_file: bool = True
     ) -> dict:
+        """Filter the criteria.json generated by scenario-runner to calculate driving score
+
+        Args:
+            criteria (_type_): The criteria generated by scenario-runner, containing all the information about the scenario execution, including the criteria results and their attributes
+            file_name (str):  The name of the file to save the filtered criteria to, used for results management and logging
+            save_file (bool, optional): Whether to save the filtered criteria to a file. Defaults to True.
+
+        Returns:
+            dict: The filtered criteria dictionary
+        """
         # Filter the attributes that aren't JSON serializable
         with open("temp.json", "w", encoding="utf-8") as fp:
             criteria_dict = {}
@@ -539,13 +591,21 @@ def _output_criteria(
 
         os.remove("temp.json")
 
-        # Save the criteria dictionary into a .json file
+        # save the criteria dictionary into a .json file
         if save_file:
             with open(file_name, "w", encoding="utf-8") as fp:
                 json.dump(criteria_dict, fp, sort_keys=False, indent=4)
         return criteria_dict
 
     def _calculate_driving_score(self, criteria: dict) -> float:
+        """Returns driving score based on a set of provided infractions, and the criteria log generated by scenario runner.
+
+        Args:
+            criteria (dict): The criteria dictionary generated by scenario runner, containing the results of all criteria and their attributes. See `_output_criteria` for details on how this is generated.
+
+        Returns:
+            float: The calculated driving score
+        """
         infractions_dict = {
             "OutsideRouteLanesTest": 0.3,
             "CollisionTest": 1.0,
@@ -586,12 +646,12 @@ def destroy(self) -> None:
 
     def _cleanup(self) -> None:
         """Cleanup function. Removes instances of the CARLA client and WORLD, also destroys the Ego vehicle in CARLA."""
-        # stop CARLA
         CARLAManager.stop_carla()
 
         try:
-            if CarlaDataProvider.get_client() is not None:
-                CarlaDataProvider.get_client().get_trafficmanager(
+            client = CarlaDataProvider.get_client()
+            if client is not None:
+                client.get_trafficmanager(
                     int(self._carla.TRAFFIC_MANAGER.PORT)
                 ).set_synchronous_mode(False)
         except RuntimeError:
@@ -671,7 +731,7 @@ def main():
         scenario_runner = AWScenarioRunner(config, carla_config)
         results = scenario_runner.run()
         logger.info(results)
-    except Exception:  # NOT GOOD PRACTICE PROBABLY CHANGE
+    except Exception:  # catch any anonymous exceptions to ensure cleanup is always called, as CARLA can leave zombie processes
         traceback.print_exc()
     finally:
         if scenario_runner is not None:

From c5e8a7cdafb10c4de5edf3a84d22e987a80bb25e Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 22 Apr 2026 14:57:52 +0000
Subject: [PATCH 058/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 5c05bebf2eca9550928ed32cf8d58db35093eef4..5b80f7ff36263e3188debc433d27d52aef3f273d 100644
GIT binary patch
delta 239
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delta 239
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From 52958bd94f979a5b63c0877b8267268ba97a622a Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 22 Apr 2026 16:25:53 +0100
Subject: [PATCH 059/133] changed camera id

---
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index d2736f7..0e4bdcb 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -145,11 +145,11 @@ def __init__(self, node):
                 )
 
                 self.pub_camera_yolo_info = self.ros2_node.create_publisher(
-                    CameraInfo, "/sensing/camera/0/camera_info", 1
+                    CameraInfo, "/sensing/camera/CAM_FRONT/camera_info", 1
                 )
 
                 self.pub_camera_yolo = self.ros2_node.create_publisher(
-                    Image, "/sensing/camera/0/image_raw", 1
+                    Image, "/sensing/camera/CAM_FRONT/image_raw", 1
                 )
 
             elif sensor["type"] == "sensor.lidar.ray_cast":
@@ -376,7 +376,7 @@ def camera(self, carla_camera_data):
         self.pub_camera.publish(img_msg)
 
         # build another message to publish for yolo
-        img_msg.header = self.get_msg_header(frame_id="0/camera_optical_link")
+        img_msg.header = self.get_msg_header(frame_id="CAM_FRONT/camera_optical_link")
 
         cam_info = self._camera_info
         cam_info.header = img_msg.header

From 5387bf0b904c5b3520291e8e35a40a7b0668e3d2 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 22 Apr 2026 15:26:56 +0000
Subject: [PATCH 060/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 5b80f7ff36263e3188debc433d27d52aef3f273d..e46fad631b0156981676ac8c0a39b7098629b759 100644
GIT binary patch
delta 267
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delta 267
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z*LmEG42>)doeiA~9bL`LjonOLEX|$FOe{=Y4IRx5%nY6E6l@49iJkuNCYRjwIzDcR
K?W+^H!<hilnM;lU


From 89c97db4a893bb6748fafcc14ca3424c59ed6ecb Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 23 Apr 2026 13:10:57 +0100
Subject: [PATCH 061/133] updated publishers for autoware camera topics

---
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 0e4bdcb..4c16fa4 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -145,11 +145,11 @@ def __init__(self, node):
                 )
 
                 self.pub_camera_yolo_info = self.ros2_node.create_publisher(
-                    CameraInfo, "/sensing/camera/CAM_FRONT/camera_info", 1
+                    CameraInfo, "/sensing/camera/camera4/camera_info", 1
                 )
 
                 self.pub_camera_yolo = self.ros2_node.create_publisher(
-                    Image, "/sensing/camera/CAM_FRONT/image_raw", 1
+                    Image, "/sensing/camera/camera4/image_raw", 1
                 )
 
             elif sensor["type"] == "sensor.lidar.ray_cast":

From d577842a20736f94147f62fdf41617f01628a1be Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 23 Apr 2026 12:11:52 +0000
Subject: [PATCH 062/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index e46fad631b0156981676ac8c0a39b7098629b759..66b8484a5bde9c7ed3d3897a239836f00dd9ca4c 100644
GIT binary patch
delta 281
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zV0+0S&S#8V2)XGgM>vg;`3sJ4njrDF-#fx7!Kjj)YGP<%lw_t0WSHrifLInLhAFzq
zCWgj9k>u1gbJKRIW1QQij&Vu#sTdm?85#mD)>P2<%};SjEJ;<+aIrEnFfubRF@j2N
zj|kzu&g14};b>uKX=Gwz?CN6a<Z9$<Xk=h&;9>++X6EE(VQ!~jLs&`d^oKXO<fhm0
NaZ7ApoyZ-|1ORG3PG0~3

delta 281
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+;~{RN5JOWdBQq-#)2Qhe4{}OO-+P!-
zV0+0S&S#8V2)XGgM>vg;`3sJ4njrDF-#fx7!Kh-Knr38>n3|@WVwhsCYmx>eEG?4^
zbuEkx3=)kkO-&3_4BMrSac-A7#wFFKVq|D)WCpZYQ$gQ1KgA`nBvnDf#mdOQ$jrdR
z2r9WfB82-okDIZJfrX)&i-oJBtFwutnW3?(xut=ztFfV_qpPL4tA(9{4Phm*(;wdC
RlAB(~$1Smabs~2-69BaLPXPb`


From 28d3c2646254d781b613dc918f2623bc72ce866a Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 27 Apr 2026 18:19:18 +0100
Subject: [PATCH 063/133] updated gitignore

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index 2b10e0f..8e408eb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -38,3 +38,4 @@ scenarios
 algorithms
 configs
 results
+Dockerfile_dev

From 4e03a8319a75bdde0bb05ae79aec7ebdc7192a8a Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 27 Apr 2026 18:30:01 +0100
Subject: [PATCH 064/133] updated dev workspace script

---
 .gitignore                       | 26 +++++++++++---------------
 dev/pull_workspace.sh            |  6 ++----
 srunner/tools/results_manager.py |  4 +++-
 3 files changed, 16 insertions(+), 20 deletions(-)
 mode change 100644 => 100755 dev/pull_workspace.sh

diff --git a/.gitignore b/.gitignore
index 8e408eb..15d7629 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,9 +1,5 @@
 *.pyc
-# ignore docker for now
 .ruff_cache
-docker/id_rsa
-id_rsa
-PythonAPI
 srunner/autoagents/*.pyc
 srunner/autoagents/__pycache__/
 srunner/scenariomanager/*.pyc
@@ -13,7 +9,7 @@ srunner/scenarios/__pycache__/
 srunner/utilities/*.pyc
 srunner/utilities/__pycache__/
 results*.txt
-tests
+tests/
 *.log
 .project
 .pydevproject
@@ -21,8 +17,8 @@ tests
 *.svg
 *.dot
 .python-version
-PythonAPI
-results
+PythonAPI/
+results/
 srunner/osc2
 srunner/osc2_dm
 srunner/osc2_stdlib
@@ -30,12 +26,12 @@ metrics_manager.py
 docker-compose.yml
 jats
 paper
-logs
-typings
-cawsr_workspace
-tools
-scenarios
-algorithms
-configs
-results
+logs/
+typings/
+cawsr_workspace/
+tools/
+scenarios/
+algorithms/
+configs/
+results/
 Dockerfile_dev
diff --git a/dev/pull_workspace.sh b/dev/pull_workspace.sh
old mode 100644
new mode 100755
index 08040a0..7ef3008
--- a/dev/pull_workspace.sh
+++ b/dev/pull_workspace.sh
@@ -1,6 +1,4 @@
 #!/bin/bash
-
-cd ..
+# clone into current directory
 git clone https://github.com/Intelligent-Testing-Lab/cawsr_workspace.git
-
-find . -maxdepth 1 ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} /path/to/destination/ \;
+find . -maxdepth 1 ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} ../ \;
diff --git a/srunner/tools/results_manager.py b/srunner/tools/results_manager.py
index ef8929c..8322df8 100644
--- a/srunner/tools/results_manager.py
+++ b/srunner/tools/results_manager.py
@@ -73,7 +73,9 @@ def _create_scenario_folder(self, iteration: str, results_folder: str):
 
         # make the recordings folder
         os.makedirs(os.path.join(full_path, "recording"), exist_ok=True)
-        self.recording_path = Path(os.path.join(full_path, "recording")).resolve()
+        self.recording_path = (
+            Path(os.path.join(full_path, "recording")).resolve().as_posix()
+        )
 
         os.makedirs(full_path, exist_ok=True)  # exist_ok=True, no need to error handle
         self.last_scenario = full_path

From 4970a5826b472c51da88b3c808ff505f75f36b99 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 27 Apr 2026 18:31:15 +0100
Subject: [PATCH 065/133] updated dev workspace script

---
 dev/pull_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dev/pull_workspace.sh b/dev/pull_workspace.sh
index 7ef3008..38fd3c7 100755
--- a/dev/pull_workspace.sh
+++ b/dev/pull_workspace.sh
@@ -1,4 +1,4 @@
 #!/bin/bash
 # clone into current directory
 git clone https://github.com/Intelligent-Testing-Lab/cawsr_workspace.git
-find . -maxdepth 1 ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} ../ \;
+find ./cawsr_workspace -maxdepth 1 ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} ../ \;

From 7bd1afe6b2d3976b9db503c56db8bc69808e3516 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 27 Apr 2026 20:35:54 +0100
Subject: [PATCH 066/133] (feat) added sensor configuration to scenario
 definition

---
 dev/pull_workspace.sh                         |  2 +-
 docs/DEVELOPMENT.md                           |  4 +-
 .../carla_autoware.py                         |  2 +-
 .../autoware_carla_interface/carla_ros.py     | 19 ++++----
 srunner/objects/sensors.py                    | 47 ++++++++++++-------
 srunner/tools/environment_parser.py           | 26 +++++-----
 6 files changed, 58 insertions(+), 42 deletions(-)

diff --git a/dev/pull_workspace.sh b/dev/pull_workspace.sh
index 38fd3c7..52b2615 100755
--- a/dev/pull_workspace.sh
+++ b/dev/pull_workspace.sh
@@ -1,4 +1,4 @@
 #!/bin/bash
 # clone into current directory
 git clone https://github.com/Intelligent-Testing-Lab/cawsr_workspace.git
-find ./cawsr_workspace -maxdepth 1 ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} ../ \;
+find ./cawsr_workspace -maxdepth 1 ! -name ".env" ! -name ".git" ! -name ".gitignore" ! -name "requirements.txt" ! -name "README.md" ! -name "docker-compose.yml" -exec mv {} . \;
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
index fd67b00..8a3fdda 100644
--- a/docs/DEVELOPMENT.md
+++ b/docs/DEVELOPMENT.md
@@ -20,10 +20,10 @@ This will be mounted into the dev container to allow you to configure CAWSR as u
 ## Running CAWSR
 The `dev/docker-compose.yml` file includes the services needed to launch the development container. Ensure the file is in the root of the repository and run:
 ```bash
-docker-compose -f dev/docker-compose.yml up cawsr autoware-latest
+docker compose -f dev/docker-compose.yml up cawsr autoware-latest
 ```
 
-Development follows a similar pattern to the operation of CAWSR - simply start the autoware container and CAWSR. The `cawsr_dev` image mounts root of the repository into the container, so any changes you make are applied in CAWSR.
+Development follows a similar pattern to the operation of CAWSR - simply start the autoware container and CAWSR. The `cawsr_dev` image mounts root of the repository into the container, so any changes you make are applied in CAWSR. If you need to configure CAWSR, either edit `dev/.env` to change the runtime configuration, or `configs/` to configure CAWSR.
 
 ## Contributing
 See [CONTRIBUTING.md](../CONTRIBUTING.md)
diff --git a/srunner/autoagents/autoware_carla_interface/carla_autoware.py b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
index ce6b070..0ffb911 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_autoware.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
@@ -52,7 +52,7 @@ def _tick_sensor(self, timestamp):
 
 class InitializeInterface(object):
     def __init__(self, config: EnvironmentConfig, node):
-        self.interface = carla_ros2_interface(node)
+        self.interface = carla_ros2_interface(node, config)
         self.world = None
         self.sensor_wrapper = None
         self.ego_actor = None
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 4c16fa4..c7409e5 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -13,7 +13,6 @@
 # limitations under the License.sr/bin/env python
 
 import datetime
-import json
 import math
 
 # pylint: disable=import-error
@@ -27,7 +26,6 @@
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import PoseWithCovarianceStamped
 import numpy
-import pathlib
 from rosgraph_msgs.msg import Clock
 from sensor_msgs.msg import CameraInfo
 from sensor_msgs.msg import Image
@@ -54,11 +52,15 @@
     SensorInterface,
 )
 from srunner.tools.CARLA_manager import CARLAManager
+from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
+
+import rclpy
 
 
 class carla_ros2_interface(object):
-    def __init__(self, node):
+    def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
         self.sensor_interface = SensorInterface()
+        self.config = config
         self.prev_timestamp = None
         self.prev_steer_output = 0.0
         self.tau = 0.2
@@ -80,9 +82,6 @@ def __init__(self, node):
             "status": 50,
             "pose": 2,
         }
-        # self.publish_prev_times = {
-        #    sensor: GameTime.get_time() for sensor in self.sensor_frequencies
-        # }
 
         self.publish_prev_times = {
             sensor: datetime.datetime.now() for sensor in self.sensor_frequencies
@@ -96,11 +95,9 @@ def __init__(self, node):
         obj_clock.clock = Time(sec=int(0))
         self.clock_publisher.publish(obj_clock)
 
-        # load sensor config and create publishers
-        sensors_config = pathlib.Path(
-            "srunner/autoagents/autoware_carla_interface/objects/sensors.json"
-        )
-        self.sensors = json.load(open(sensors_config.absolute()))
+        self.sensors = {
+            "sensors": [sensor.sensor_dict() for sensor in self.config.sensor_config]
+        }
 
         self.sub_control = self.ros2_node.create_subscription(
             ActuationCommandStamped,
diff --git a/srunner/objects/sensors.py b/srunner/objects/sensors.py
index 5334872..e4aba56 100644
--- a/srunner/objects/sensors.py
+++ b/srunner/objects/sensors.py
@@ -1,5 +1,3 @@
-from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
-
 import carla
 
 
@@ -12,23 +10,40 @@ def __init__(self) -> None:
         self.type: str = ""
         self.id: str = ""
         self.spawn: carla.Transform | None = None
-
-    def _spawn(self, bp_library, vehicle) -> None:
-        sensor_bp = bp_library.find(str(self.type))
-
-        ignored_params = ["serealize", "id", "_spawn", "type", "spawn"]
-
-        sensor_params = [attr for attr in dir(self) if attr not in ignored_params]
+        self.publish_frequency: int = 0
+
+    def _spawn_to_dict(self) -> dict:
+        if self.spawn is None:
+            return {}
+        return {
+            "x": self.spawn.location.x,
+            "y": self.spawn.location.y,
+            "z": self.spawn.location.z,
+            "pitch": self.spawn.rotation.pitch,
+            "roll": self.spawn.rotation.roll,
+            "yaw": self.spawn.rotation.yaw,
+        }
+
+    def sensor_dict(self) -> dict:
+        """Converts all sensor attributes in a dictionary
+
+        Returns:
+            dict: Dictionary for sensor params in the format expected by autoware_carla_interface
+        """
+        sensor_config = {}
+
+        ignored_attr = ["sensor_dict", "_spawn_to_dict"]
+        sensor_params = [attr for attr in dir(self) if attr not in ignored_attr]
         sensor_params = filter(lambda x: not x.startswith("__"), sensor_params)
 
-        for param in sensor_params:
-            sensor_bp.set_attribute(param, str(getattr(self, param)))
-
-        CarlaDataProvider.get_world().spawn_actor(sensor_bp, self.spawn, vehicle)
-        CarlaDataProvider.get_world().tick()
+        for sensor_param in sensor_params:
+            if sensor_param.lower() == "spawn":
+                sensor_config["spawn_point"] = self._spawn_to_dict()
+                continue
+            sensor_config[sensor_param] = getattr(self, sensor_param)
 
-    def serealize(self):
-        return self.type, self.id
+        print(sensor_config)
+        return sensor_config
 
 
 class CameraRGB(DefaultSensor):
diff --git a/srunner/tools/environment_parser.py b/srunner/tools/environment_parser.py
index 66020f3..1af05fd 100644
--- a/srunner/tools/environment_parser.py
+++ b/srunner/tools/environment_parser.py
@@ -65,24 +65,25 @@ def parse_ego_config(config: EnvironmentConfig, elem: Element) -> None:
                 continue
 
             spawn = sensor.find("spawn_point")
-
             sensor_obj = DefaultSensor()
 
             if sensor_type == "sensor.camera.rgb":
                 sensor_obj = CameraRGB()
-                sensor_obj.image_size_x = sensor.attrib.get("image_size_x", 0)
-                sensor_obj.image_size_y = sensor.attrib.get("image_size_y", 0)
-                sensor_obj.fov = sensor.attrib.get("fov", 0.0)
+                sensor_obj.image_size_x = int(sensor.attrib.get("image_size_x", 0))
+                sensor_obj.image_size_y = int(sensor.attrib.get("image_size_y", 0))
+                sensor_obj.fov = float(sensor.attrib.get("fov", 0.0))
 
             elif sensor_type == "sensor.lidar.ray_cast":
                 sensor_obj = LidarRayCast()
-                sensor_obj.range = sensor.attrib.get("range", 0)
-                sensor_obj.channels = sensor.attrib.get("channels", 0)
-                sensor_obj.points_per_second = sensor.attrib.get("points_per_second", 0)
-                sensor_obj.upper_fov = sensor.attrib.get("upper_fov", 0.0)
-                sensor_obj.lower_fov = sensor.attrib.get("lower_fov", 0.0)
-                sensor_obj.rotation_frequency = sensor.attrib.get(
-                    "rotation_frequency", 0
+                sensor_obj.range = int(sensor.attrib.get("range", 0))
+                sensor_obj.channels = int(sensor.attrib.get("channels", 0))
+                sensor_obj.points_per_second = int(
+                    sensor.attrib.get("points_per_second", 0)
+                )
+                sensor_obj.upper_fov = float(sensor.attrib.get("upper_fov", 0.0))
+                sensor_obj.lower_fov = float(sensor.attrib.get("lower_fov", 0.0))
+                sensor_obj.rotation_frequency = int(
+                    sensor.attrib.get("rotation_frequency", 0)
                 )
 
             sensor_obj.type = sensor_type
@@ -109,4 +110,7 @@ def parse_ego_config(config: EnvironmentConfig, elem: Element) -> None:
 
             sensors.append(sensor_obj)
 
+        EnvironmentParser.logger.info(
+            {"sensors": [sensor.sensor_dict() for sensor in sensors]}
+        )
         config.sensor_config = sensors

From 385189639248c6d4a9eb6367c377d4f9825cbb41 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Mon, 27 Apr 2026 19:36:59 +0000
Subject: [PATCH 067/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 66b8484a5bde9c7ed3d3897a239836f00dd9ca4c..f6c734296f108e6202a45733dd574128f9c131eb 100644
GIT binary patch
delta 281
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From b9a4d21fbcf0e6813e4f397eaec5e626a29e671e Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 27 Apr 2026 21:04:18 +0100
Subject: [PATCH 068/133] (bug) fixed division by zero bug

---
 .../autoware_carla_interface/modules/carla_wrapper.py     | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
index df15967..56f169e 100644
--- a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
+++ b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
@@ -218,14 +218,6 @@ def setup_sensors(self, vehicle, debug_mode=False):
                     yaw=sensor_spec["spawn_point"]["yaw"] + 0.0364,
                 )
 
-            # bp.set_attribute(
-            #    "sensor_tick", str(round(1.0 / sensor_spec["publish_frequency"], 2))
-            # )
-
-            logger.info(
-                f"Sensor {sensor_spec['id']} tick rate set to {str(round(1.0 / sensor_spec['publish_frequency'], 2))}"
-            )
-
             # create sensor
             sensor_transform = carla.Transform(sensor_location, sensor_rotation)
             sensor = CarlaDataProvider.get_world().spawn_actor(

From 686eba6ba400838c921aacb2dad186d8cdf06687 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Mon, 27 Apr 2026 20:05:21 +0000
Subject: [PATCH 069/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index f6c734296f108e6202a45733dd574128f9c131eb..77d2a5dea9127aa79f9965ac938da0cbbc744289 100644
GIT binary patch
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From 2568ca9eaa1f383336293154ecdff4baeac0ca6b Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Tue, 5 May 2026 15:50:27 +0100
Subject: [PATCH 070/133] added missing leaderboard scenario definition

---
 .../autoware_carla_interface/carla_ros.py     |   2 +-
 srunner/scenarios/junction_crossing_route.py  | 110 ++++++++++++++++++
 srunner/scenarios/route_scenario.py           |   2 +-
 3 files changed, 112 insertions(+), 2 deletions(-)
 create mode 100644 srunner/scenarios/junction_crossing_route.py

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index c7409e5..6fdedd4 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -373,7 +373,7 @@ def camera(self, carla_camera_data):
         self.pub_camera.publish(img_msg)
 
         # build another message to publish for yolo
-        img_msg.header = self.get_msg_header(frame_id="CAM_FRONT/camera_optical_link")
+        img_msg.header = self.get_msg_header(frame_id="camera4/camera_optical_link")
 
         cam_info = self._camera_info
         cam_info.header = img_msg.header
diff --git a/srunner/scenarios/junction_crossing_route.py b/srunner/scenarios/junction_crossing_route.py
new file mode 100644
index 0000000..ac61acc
--- /dev/null
+++ b/srunner/scenarios/junction_crossing_route.py
@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2018-2020 Intel Corporation
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""
+All intersection related scenarios that are part of a route.
+"""
+
+from __future__ import print_function
+
+import py_trees
+
+from srunner.scenariomanager.scenarioatomics.atomic_behaviors import (
+    TrafficLightManipulator,
+)
+
+from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (
+    DriveDistance,
+)
+from srunner.scenarios.basic_scenario import BasicScenario
+
+
+class SignalJunctionCrossingRoute(BasicScenario):
+    """
+    At routes, these scenarios are simplified, as they can be triggered making
+    use of the background activity. To ensure interactions with this background
+    activity, the traffic lights are modified, setting two of them to green
+    """
+
+    # ego vehicle parameters
+    _ego_max_velocity_allowed = 20  # Maximum allowed velocity [m/s]
+    _ego_expected_driven_distance = 50  # Expected driven distance [m]
+    _ego_distance_to_drive = 20  # Allowed distance to drive
+
+    _traffic_light = None
+
+    # Depending on the route, decide which traffic lights can be modified
+
+    def __init__(
+        self,
+        world,
+        ego_vehicles,
+        config,
+        randomize=False,
+        debug_mode=False,
+        criteria_enable=True,
+        timeout=180,
+    ):
+        """
+        Setup all relevant parameters and create scenario
+        and instantiate scenario manager
+        """
+        # Timeout of scenario in seconds
+        self.timeout = timeout
+        self.subtype = config.subtype
+
+        super(SignalJunctionCrossingRoute, self).__init__(
+            "SignalJunctionCrossingRoute",
+            ego_vehicles,
+            config,
+            world,
+            debug_mode,
+            criteria_enable=criteria_enable,
+        )
+
+    def _initialize_actors(self, config):
+        """
+        Custom initialization
+        """
+
+    def _create_behavior(self):
+        """
+        Scenario behavior:
+        When close to an intersection, the traffic lights will turn green for
+        both the ego_vehicle and another lane, allowing the background activity
+        to "run" their red light, creating scenarios 7, 8 and 9.
+
+        If this does not happen within 120 seconds, a timeout stops the scenario
+        """
+
+        # Changes traffic lights
+        traffic_hack = TrafficLightManipulator(self.ego_vehicles[0], self.subtype)
+
+        # finally wait that ego vehicle drove a specific distance
+        wait = DriveDistance(self.ego_vehicles[0], self._ego_distance_to_drive)
+
+        # Build behavior tree
+        sequence = py_trees.composites.Sequence("SignalJunctionCrossingRoute")
+        sequence.add_child(traffic_hack)
+        sequence.add_child(wait)
+
+        return sequence
+
+    def _create_test_criteria(self):
+        """
+        A list of all test criteria will be created that is later used
+        in parallel behavior tree.
+        """
+        criteria = []
+        return criteria
+
+    def __del__(self):
+        """
+        Remove all actors and traffic lights upon deletion
+        """
+        self._traffic_light = None
+        self.remove_all_actors()
diff --git a/srunner/scenarios/route_scenario.py b/srunner/scenarios/route_scenario.py
index 6a93e1f..8c9fc65 100644
--- a/srunner/scenarios/route_scenario.py
+++ b/srunner/scenarios/route_scenario.py
@@ -261,7 +261,7 @@ def _build_scenarios(
         scenario_definitions,
         scenarios_per_tick=5,
         timeout=300,
-        debug=False,
+        debug=True,
     ):
         """
         Initializes the class of all the scenarios that will be present in the route.

From de651cc030e8cc3d055264a1d9586116e9915aab Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Tue, 5 May 2026 22:31:25 +0100
Subject: [PATCH 071/133] fixed bug with scenario process crashing and causing
 cascading failure

---
 srunner/autoagents/autoware_agent.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index e14ce9a..a004663 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -122,6 +122,9 @@ def _convert_to_waypoint(self, point):
             node=self._node,
         )
 
+    def cleanup(self) -> None:
+        self.destroy()
+
     def destroy(self, cleanup=False) -> None:
         """Cleanup"""
         logger.info("Sending shutdown signal to autoware...")

From eb317961ebe496cdc6b1ea66127b978d235f2a97 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Tue, 5 May 2026 21:32:25 +0000
Subject: [PATCH 072/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 77d2a5dea9127aa79f9965ac938da0cbbc744289..dc24d42e619be6b7e3a07a22bd3edd616d7ebd7c 100644
GIT binary patch
delta 281
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From b60a199a8f33274202ffccabb7fede49bbbd52f0 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 6 May 2026 01:04:46 +0100
Subject: [PATCH 073/133] updated logic to shutdown and restart autoware every
 scenario iteration

---
 srunner/autoagents/autoware_agent.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index a004663..4e3aa96 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -59,9 +59,7 @@ def setup(self, config: EnvironmentConfig) -> None:
         self.carla_interface = InitializeInterface(self.config, self._node)
 
         self.state_node = state_node.StateNode(self.autoware_state, self._node_state)
-        if config.iteration == 1:
-            # only reset autoware on the first run
-            self.state_node.reset_autoware(self.config.town, self.config.ego_name)
+        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
 
         self.route_node = route_node.RouteNode(self.autoware_state, self._node_state)
         self.autoware_node = autoware_node.AutowareNode(
@@ -123,7 +121,7 @@ def _convert_to_waypoint(self, point):
         )
 
     def cleanup(self) -> None:
-        self.destroy()
+        self.destroy(cleanup=True)
 
     def destroy(self, cleanup=False) -> None:
         """Cleanup"""

From 69883342e33de305acd543db18edda224e454b79 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 6 May 2026 00:06:05 +0000
Subject: [PATCH 074/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index dc24d42e619be6b7e3a07a22bd3edd616d7ebd7c..aa03f192a59fc2e80deabdf0ae10a2da7b0c4230 100644
GIT binary patch
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From ca6e5ced9c42b7635b0aae73190f8bf401b543d6 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Wed, 6 May 2026 20:18:05 +0100
Subject: [PATCH 075/133] moved around ticking

---
 srunner/scenariomanager/scenario_manager.py | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
index cd1f268..e4d387c 100644
--- a/srunner/scenariomanager/scenario_manager.py
+++ b/srunner/scenariomanager/scenario_manager.py
@@ -180,18 +180,12 @@ def _tick_scenario(self, timestamp):
             if self._debug_mode:
                 print("\n--------- Tick ---------\n")
 
-            if self._agent is not None:
-                self._agent()  # pylint: disable=not-callable
-
-            _tick_carla_start = time.perf_counter_ns() / 1e6
             if self._sync_mode and self._watchdog.get_status():
-                CarlaDataProvider.get_world().tick()
                 GameTime.on_carla_tick(timestamp)
                 CarlaDataProvider.on_carla_tick()
 
-            MetricsCollector.update_key(
-                "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
-            )
+            if self._agent is not None:
+                self._agent()  # pylint: disable=not-callable
 
             # Tick scenario
             _scenario_tick_start = time.perf_counter_ns() / 1e6
@@ -212,6 +206,11 @@ def _tick_scenario(self, timestamp):
             tick_diff = (start_tick - end_tick) / 1e9
             if (start_tick - end_tick) < CARLAManager.FIXED_DELTA_SECONDS:
                 time.sleep(CARLAManager.FIXED_DELTA_SECONDS - tick_diff)
+            _tick_carla_start = time.perf_counter_ns() / 1e6
+            CarlaDataProvider.get_world().tick()
+            MetricsCollector.update_key(
+                "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
+            )
 
     def _tick_spectator_cam(self, ego: carla.Actor) -> None:
         """Ticks the spectator camera for the chosen ego"""

From c35d869f2acd61591cc814dd54dc2ac390c9f907 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Wed, 6 May 2026 20:20:30 +0000
Subject: [PATCH 076/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index aa03f192a59fc2e80deabdf0ae10a2da7b0c4230..af3c1fe4002255f44d8ef627790724fa779deb40 100644
GIT binary patch
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From 80720df7f055d393ead226293793a054211c21c5 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 01:58:50 +0100
Subject: [PATCH 077/133] (refactor) updated get_data to be frame aware; CAWSR
 now waits for sensor callbacks to fire before proceeding with sensor
 publishing, ensuring sensor data is latest frame. This allows the migration
 from wall time (maximum wall:sim ratio is 1:1) to game_time

---
 srunner/autoagents/agent_wrapper.py           |   10 +-
 srunner/autoagents/autonomous_agent.py        |   13 +-
 srunner/autoagents/autoware_agent.py          |   13 +-
 .../carla_autoware.py                         |   20 +-
 .../autoware_carla_interface/carla_ros.py     |  135 +-
 .../modules/carla_wrapper.py                  |   92 +-
 .../autoware_nodes/autoware_node.py           |    8 +-
 .../autoware_nodes/autoware_types/waypoint.py |    2 -
 .../autoagents/autoware_nodes/route_node.py   |   24 +-
 .../scenarioconfigs/scenario_configuration.py |   74 +-
 .../actorcontrols/actor_control.py            |   14 +-
 .../actorcontrols/basic_control.py            |    7 +-
 .../actorcontrols/carla_autopilot.py          |    2 -
 .../actorcontrols/external_control.py         |    1 -
 .../actorcontrols/npc_vehicle_control.py      |   26 +-
 .../actorcontrols/pedestrian_control.py       |    9 +-
 .../actorcontrols/simple_vehicle_control.py   |  142 +-
 .../vehicle_longitudinal_control.py           |    1 -
 .../actorcontrols/visualizer.py               |   76 +-
 .../scenariomanager/carla_data_provider.py    |  426 +++--
 srunner/scenariomanager/lights_sim.py         |   28 +-
 srunner/scenariomanager/result_writer.py      |  168 +-
 srunner/scenariomanager/scenario_manager.py   |   12 +-
 .../scenarioatomics/atomic_behaviors.py       | 1495 ++++++++++++-----
 .../scenarioatomics/atomic_repeat.py          |   17 +-
 .../atomic_trigger_conditions.py              |  405 +++--
 srunner/scenariomanager/timer.py              |   26 +-
 srunner/scenariomanager/traffic_events.py     |    4 +-
 srunner/scenariomanager/watchdog.py           |   12 +-
 .../scenarios/no_signal_junction_crossing.py  |  132 +-
 30 files changed, 2298 insertions(+), 1096 deletions(-)

diff --git a/srunner/autoagents/agent_wrapper.py b/srunner/autoagents/agent_wrapper.py
index 2a9bf2f..851e441 100644
--- a/srunner/autoagents/agent_wrapper.py
+++ b/srunner/autoagents/agent_wrapper.py
@@ -26,13 +26,13 @@ def __init__(self, agent):
         """
         self._agent = agent
 
-    def __call__(
-        self,
-    ):
+    def __call__(self, timestamp=None):
         """
-        Pass the call directly to the agent
+        Pass the call directly to the agent.
+        If timestamp is provided, forward it to propagate the CARLA
+        snapshot through the chain so the agent does not re-acquire it.
         """
-        return self._agent()
+        return self._agent(timestamp)
 
     def setup_sensors(self, vehicle, debug_mode=False):
         """
diff --git a/srunner/autoagents/autonomous_agent.py b/srunner/autoagents/autonomous_agent.py
index 7980efd..617db9d 100644
--- a/srunner/autoagents/autonomous_agent.py
+++ b/srunner/autoagents/autonomous_agent.py
@@ -72,18 +72,15 @@ def destroy(self):
         """
         pass
 
-    def __call__(self):
+    def __call__(self, timestamp=None):
         """
         Execute the agent call, e.g. agent()
         Returns the next vehicle controls
-        """
-        # no need for any of this, handled by autoware
-        # input_data = self.sensor_interface.get_data()
 
-        # timestamp = GameTime.get_time()
-        # wallclock = GameTime.get_wallclocktime()
-        # print('======[Agent] Wallclock_time = {} / Sim_time = {}'.format(wallclock, timestamp))
-        # control.manual_gear_shift = False
+        If timestamp (carla.Timestamp) is provided, store it so that
+        subclasses can use the same CARLA snapshot without re-acquiring it.
+        """
+        self._carla_timestamp = timestamp
 
         self.run_step()
 
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 4e3aa96..e171513 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -67,7 +67,7 @@ def setup(self, config: EnvironmentConfig) -> None:
         )
 
         try:
-            # run state note and cawsr bridge in separate executors
+            # run state node and cawsr bridge in separate executors
             self._executors = [
                 rclpy.executors.SingleThreadedExecutor(),
                 rclpy.executors.SingleThreadedExecutor(),
@@ -80,18 +80,17 @@ def setup(self, config: EnvironmentConfig) -> None:
                 threading.Thread(target=self._executors[0].spin, daemon=True),
                 threading.Thread(target=self._executors[1].spin, daemon=True),
             ]
-
-            for thread in self._executor_threads:
-                thread.start()
         except rclpy.executors.ExternalShutdownException:
             logger.info("Node Executor shutdown externally...")
 
         self.sent_route = False
-        self.initialised = False
 
         self.carla_interface.load_world()
         self.carla_interface.run_bridge()
 
+        for thread in self._executor_threads:
+            thread.start()
+
     def set_route(self) -> None:
         self.agent_set_route = True
 
@@ -149,7 +148,7 @@ def run_step_init(self) -> bool:
         Operates on a fixed tick budget to ensure determinism. If the agent goes over the budget, it is treated as a failure.
         """
 
-        self.carla_interface.tick_bridge()
+        self.carla_interface.tick_bridge(self._carla_timestamp)
 
         if not self.agent_set_route:
             self.set_route()
@@ -191,4 +190,4 @@ def run_step(self) -> None:
         if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
             self.autoware_node.publish_engage(True)
 
-        self.carla_interface.tick_bridge()
+        self.carla_interface.tick_bridge(self._carla_timestamp)
diff --git a/srunner/autoagents/autoware_carla_interface/carla_autoware.py b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
index 0ffb911..aefd310 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_autoware.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_autoware.py
@@ -34,17 +34,15 @@ def __init__(self):
         self.sensor = None
         self.ego_actor = None
         self.running = False
-        self.timestamp_last_run = 0.0
         self.timeout = 20.0
 
     def _stop_loop(self):
         self.running = False
 
     def _tick_sensor(self, timestamp):
-        if self.timestamp_last_run < timestamp.elapsed_seconds and self.running:
-            self.timestamp_last_run = timestamp.elapsed_seconds
+        if self.running:
             try:
-                ego_action = self.sensor()
+                ego_action = self.sensor(timestamp)
             except SensorReceivedNoData as e:
                 raise RuntimeError(e)
             self.ego_actor.apply_control(ego_action)
@@ -76,13 +74,13 @@ def run_bridge(self):
         self.bridge_loop.start_game_time = GameTime.get_time()
         self.bridge_loop.running = True
 
-    def tick_bridge(self):
-        timestamp = None
-        world = CarlaDataProvider.get_world()
-        if world:
-            snapshot = world.get_snapshot()
-            if snapshot:
-                timestamp = snapshot.timestamp
+    def tick_bridge(self, timestamp=None):
+        if timestamp is None:
+            world = CarlaDataProvider.get_world()
+            if world:
+                snapshot = world.get_snapshot()
+                if snapshot:
+                    timestamp = snapshot.timestamp
         if timestamp:
             self.prev_tick_wall_time = time.time()
             self.bridge_loop._tick_sensor(timestamp)
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 6fdedd4..f42d2d9 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.sr/bin/env python
 
-import datetime
 import math
+import queue
 
 # pylint: disable=import-error
 from autoware_vehicle_msgs.msg import ControlModeReport
@@ -38,6 +38,7 @@
 from transforms3d.euler import euler2quat
 
 from srunner.scenariomanager.timer import GameTime
+from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 from srunner.autoagents.autoware_carla_interface.modules.carla_utils import (
     carla_location_to_ros_point,
 )
@@ -64,7 +65,7 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
         self.prev_timestamp = None
         self.prev_steer_output = 0.0
         self.tau = 0.2
-        self.timestamp = None
+        self.timestamp = 0.0
         self.ego_actor = None
         self.physics_control = None
         self.channels = 0
@@ -72,6 +73,7 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
         self.id_to_camera_info_map = {}
         self.cv_bridge = CvBridge()
         self.first_ = True
+        self._pending_initialpose = None
         self.pub_lidar = {}
         self.sensor_frequencies = {
             "top": 11,
@@ -84,7 +86,7 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
         }
 
         self.publish_prev_times = {
-            sensor: datetime.datetime.now() for sensor in self.sensor_frequencies
+            sensor: -1000.0 for sensor in self.sensor_frequencies
         }
 
         self.delta = CARLAManager.FIXED_DELTA_SECONDS  # delta in seconds
@@ -110,7 +112,8 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
             PoseWithCovarianceStamped, "initialpose", self.initialpose_callback, 1
         )
 
-        self.current_control = carla.VehicleControl()
+        self._control_queue = queue.Queue(1)
+        self._control_queue.put_nowait((0, carla.VehicleControl()))
 
         self.pub_pose_with_cov = self.ros2_node.create_publisher(
             PoseWithCovarianceStamped, "/sensing/gnss/pose_with_covariance", 1
@@ -170,44 +173,47 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
                 )
                 pass
 
-    def __call__(self):
-        input_data = self.sensor_interface.get_data()
-        timestamp = GameTime.get_time()
+    def __call__(self, timestamp=None):
+        if timestamp is None:
+            timestamp = (
+                CarlaDataProvider.get_world().get_snapshot().timestamp.elapsed_seconds
+            )
+        elif hasattr(timestamp, "elapsed_seconds"):
+            timestamp = timestamp.elapsed_seconds
+
+        input_data = self.sensor_interface.get_data(expected_time=timestamp)
         control = self.run_step(input_data, timestamp)
         return control
 
     def checkFrequency(self, sensor):
-        # implement frequency check based on game time
-        # time_delta = GameTime.get_time() - self.publish_prev_times[sensor]
-
-        # implement frequency check based on real time
-        time_delta = (
-            datetime.datetime.now() - self.publish_prev_times[sensor]
-        ).microseconds / 1000000.0
-
-        if time_delta == 0.0:
-            return True
-
+        time_delta = GameTime.get_time() - self.publish_prev_times[sensor]
+        if time_delta <= 0.0:
+            return False
         if 1.0 / time_delta >= self.sensor_frequencies[sensor]:
             return True
         return False
 
-    def get_msg_header(self, frame_id):
+    def get_msg_header(self, frame_id, timestamp=None):
         """Obtain and modify ROS message header."""
         header = Header()
         header.frame_id = frame_id
-        seconds = int(self.timestamp)  # type: ignore
-        nanoseconds = int((self.timestamp - int(self.timestamp)) * 1000000000.0)  # type: ignore
+        ts = timestamp if timestamp is not None else self.timestamp
+        seconds = int(ts)
+        nanoseconds = int((ts - int(ts)) * 1000000000.0)
         header.stamp = Time(sec=seconds, nanosec=nanoseconds)
         return header
 
-    def lidar(self, carla_lidar_measurement, id_):
+    def lidar(self, carla_lidar_measurement, id_, timestamp=None):
         """Transform the received lidar measurement into a ROS point cloud message."""
+        if id_ not in self.publish_prev_times or id_ not in self.pub_lidar:
+            return
         if self.checkFrequency(id_):
             return
-        self.publish_prev_times[id_] = datetime.datetime.now()
+        self.publish_prev_times[id_] = GameTime.get_time()
 
-        header = self.get_msg_header(frame_id="velodyne_top_changed")
+        header = self.get_msg_header(
+            frame_id="velodyne_top_changed", timestamp=timestamp
+        )
         fields = [
             PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1),
             PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1),
@@ -269,18 +275,15 @@ def initialpose_callback(self, data):
         pose = data.pose.pose
         pose.position.z += 2.0
         carla_pose_transform = ros_pose_to_carla_transform(pose)
-        if self.ego_actor is not None:
-            self.ego_actor.set_transform(carla_pose_transform)
-        else:
-            print("Can't find Ego Vehicle")
+        self._pending_initialpose = carla_pose_transform
 
-    def pose(self):
+    def pose(self, timestamp=None):
         """Transform odometry data to Pose and publish Pose with Covariance message."""
         if self.checkFrequency("pose"):
             return
-        self.publish_prev_times["pose"] = datetime.datetime.now()
+        self.publish_prev_times["pose"] = GameTime.get_time()
 
-        header = self.get_msg_header(frame_id="map")
+        header = self.get_msg_header(frame_id="map", timestamp=timestamp)
         out_pose_with_cov = PoseWithCovarianceStamped()
         pose_carla = Pose()
         pose_carla.position = carla_location_to_ros_point(
@@ -347,7 +350,7 @@ def _build_camera_info(self, camera_actor):
         camera_info.p = [fx, 0.0, cx, 0.0, 0.0, fy, cy, 0.0, 0.0, 0.0, 1.0, 0.0]
         self._camera_info = camera_info
 
-    def camera(self, carla_camera_data):
+    def camera(self, carla_camera_data, timestamp=None):
         """Transform the received carla camera data into a ROS image and info message and publish."""
         while self.first_:
             self._camera_info_ = self._build_camera_info(carla_camera_data)
@@ -355,7 +358,7 @@ def camera(self, carla_camera_data):
 
         if self.checkFrequency("camera"):
             return
-        self.publish_prev_times["camera"] = datetime.datetime.now()
+        self.publish_prev_times["camera"] = GameTime.get_time()
 
         image_data_array = numpy.ndarray(
             shape=(carla_camera_data.height, carla_camera_data.width, 4),
@@ -365,7 +368,8 @@ def camera(self, carla_camera_data):
         # cspell:ignore interp bgra
         img_msg = self.cv_bridge.cv2_to_imgmsg(image_data_array, encoding="bgra8")
         img_msg.header = self.get_msg_header(
-            frame_id="traffic_light_left_camera/camera_optical_link"
+            frame_id="traffic_light_left_camera/camera_optical_link",
+            timestamp=timestamp,
         )
         cam_info = self._camera_info
         cam_info.header = img_msg.header
@@ -373,21 +377,25 @@ def camera(self, carla_camera_data):
         self.pub_camera.publish(img_msg)
 
         # build another message to publish for yolo
-        img_msg.header = self.get_msg_header(frame_id="camera4/camera_optical_link")
+        img_msg.header = self.get_msg_header(
+            frame_id="camera4/camera_optical_link", timestamp=timestamp
+        )
 
         cam_info = self._camera_info
         cam_info.header = img_msg.header
         self.pub_camera_yolo_info.publish(cam_info)
         self.pub_camera_yolo.publish(img_msg)
 
-    def imu(self, carla_imu_measurement):
+    def imu(self, carla_imu_measurement, timestamp=None):
         """Transform a received imu measurement into a ROS Imu message and publish Imu message."""
         if self.checkFrequency("imu"):
             return
-        self.publish_prev_times["imu"] = datetime.datetime.now()
+        self.publish_prev_times["imu"] = GameTime.get_time()
 
         imu_msg = Imu()
-        imu_msg.header = self.get_msg_header(frame_id="tamagawa/imu_link_changed")
+        imu_msg.header = self.get_msg_header(
+            frame_id="tamagawa/imu_link_changed", timestamp=timestamp
+        )
         imu_msg.angular_velocity.x = -carla_imu_measurement.gyroscope.x
         imu_msg.angular_velocity.y = carla_imu_measurement.gyroscope.y
         imu_msg.angular_velocity.z = -carla_imu_measurement.gyroscope.z
@@ -410,17 +418,19 @@ def imu(self, carla_imu_measurement):
 
     def first_order_steering(self, steer_input):
         """First order steering model."""
-        steer_output = 0.0
+        timestamp = self.timestamp
         if self.prev_timestamp is None:
-            self.prev_timestamp = self.timestamp
+            self.prev_timestamp = timestamp
+
+        dt = timestamp - self.prev_timestamp  # type: ignore
+        if dt <= 0.0:
+            return self.prev_steer_output
 
-        dt = self.timestamp - self.prev_timestamp  # type: ignore
-        if dt > 0.0:
-            steer_output = self.prev_steer_output + (
-                steer_input - self.prev_steer_output
-            ) * (dt / (self.tau + dt))
+        steer_output = self.prev_steer_output + (
+            steer_input - self.prev_steer_output
+        ) * (dt / (self.tau + dt))
         self.prev_steer_output = steer_output
-        self.prev_timestamp = self.timestamp
+        self.prev_timestamp = timestamp
         return steer_output
 
     def control_callback(self, in_cmd):
@@ -438,14 +448,17 @@ def control_callback(self, in_cmd):
         )
         out_cmd.brake = in_cmd.actuation.brake_cmd
 
-        self.current_control = out_cmd
+        try:
+            self._control_queue.put_nowait((self.timestamp, out_cmd))
+        except queue.Full:
+            pass
 
     def ego_status(self):
         """Publish ego vehicle status."""
         if self.checkFrequency("status"):
             return
 
-        self.publish_prev_times["status"] = datetime.datetime.now()
+        self.publish_prev_times["status"] = GameTime.get_time()
 
         # convert velocity from cartesian to ego frame
         trans_mat = numpy.array(self.ego_actor.get_transform().get_matrix()).reshape(
@@ -503,6 +516,13 @@ def ego_status(self):
     def run_step(self, input_data, timestamp):
         self.timestamp = timestamp
 
+        if self._pending_initialpose is not None:
+            if self.ego_actor is not None:
+                self.ego_actor.set_transform(self._pending_initialpose)
+            else:
+                print("Can't find Ego Vehicle")
+            self._pending_initialpose = None
+
         seconds = int(self.timestamp)
         nanoseconds = int((self.timestamp - int(self.timestamp)) * 1000000000.0)
         obj_clock = Clock()
@@ -512,20 +532,27 @@ def run_step(self, input_data, timestamp):
         # publish data of all sensors
         for key, data in input_data.items():
             sensor_type = self.id_to_sensor_type_map[key]
+            sensor_timestamp = data[0]
+            sensor_data = data[1]
             if sensor_type == "sensor.camera.rgb":
-                self.camera(data[1])
+                self.camera(sensor_data, timestamp=sensor_timestamp)
             elif sensor_type == "sensor.other.gnss":
-                self.pose()
+                self.pose(timestamp=sensor_timestamp)
             elif sensor_type == "sensor.lidar.ray_cast":
-                self.lidar(data[1], key)
+                self.lidar(sensor_data, key, timestamp=sensor_timestamp)
             elif sensor_type == "sensor.other.imu":
-                self.imu(data[1])
+                self.imu(sensor_data, timestamp=sensor_timestamp)
             else:
-                self.ros2_node.get_logger().info("No Publisher for [{key}] Sensor")
+                self.ros2_node.get_logger().info(f"No Publisher for [{key}] Sensor")
 
         self.ego_status()
 
-        return self.current_control
+        try:
+            _, control = self._control_queue.get(True, 1.0)
+        except queue.Empty:
+            control = carla.VehicleControl()
+
+        return control
 
     def shutdown(self):
         self.ros2_node.destroy_node()
diff --git a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
index 56f169e..364ceba 100644
--- a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
+++ b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
@@ -15,6 +15,7 @@
 from __future__ import print_function
 
 import logging
+import time
 from queue import Empty
 from queue import Queue
 
@@ -22,6 +23,7 @@
 import numpy as np  # type: ignore
 
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
+from srunner.tools.CARLA_manager import CARLAManager
 
 logger = logging.getLogger("scenario-runner")
 
@@ -36,6 +38,10 @@ def __init__(self, data, frame):
         self.data = data
         self.frame = frame
 
+    @property
+    def timestamp(self):
+        return self.frame * CARLAManager.FIXED_DELTA_SECONDS
+
 
 class CallBack(object):
     def __init__(self, tag, sensor, data_provider):
@@ -60,23 +66,23 @@ def __call__(self, data):
 
     # Parsing CARLA physical Sensors
     def _parse_image_cb(self, image, tag):
-        self._data_provider.update_sensor(tag, image, image.frame)
+        self._data_provider.update_sensor(tag, image, image.timestamp)
 
     def _parse_lidar_cb(self, lidar_data, tag):
-        self._data_provider.update_sensor(tag, lidar_data, lidar_data.frame)
+        self._data_provider.update_sensor(tag, lidar_data, lidar_data.timestamp)
 
     def _parse_imu_cb(self, imu_data, tag):
-        self._data_provider.update_sensor(tag, imu_data, imu_data.frame)
+        self._data_provider.update_sensor(tag, imu_data, imu_data.timestamp)
 
     def _parse_gnss_cb(self, gnss_data, tag):
         array = np.array(
             [gnss_data.latitude, gnss_data.longitude, gnss_data.altitude],
             dtype=np.float64,
         )
-        self._data_provider.update_sensor(tag, array, gnss_data.frame)
+        self._data_provider.update_sensor(tag, array, gnss_data.timestamp)
 
     def _parse_pseudo_sensor(self, package, tag):
-        self._data_provider.update_sensor(tag, package.data, package.frame)
+        self._data_provider.update_sensor(tag, package.data, package.timestamp)
 
 
 class SensorInterface(object):
@@ -85,6 +91,7 @@ def __init__(self):
         self._new_data_buffers = Queue()
         self._queue_timeout = 10
         self.tag = ""
+        self._last_data = {}
 
     def register_sensor(self, tag, sensor):
         self.tag = tag
@@ -99,18 +106,67 @@ def update_sensor(self, tag, data, timestamp):
 
         self._new_data_buffers.put((tag, timestamp, data))
 
-    def get_data(self):
-        try:
-            data_dict = {}
-            while len(data_dict.keys()) < len(self._sensors_objects.keys()):
-                sensor_data = self._new_data_buffers.get(True, self._queue_timeout)
-                data_dict[sensor_data[0]] = (sensor_data[1], sensor_data[2])
-        except Empty:
-            raise SensorReceivedNoData(
-                f"Sensor with tag [{self.tag}] took too long to send its data"
+    def get_data(self, expected_time=None):
+        # Drain all available entries, updating the per-sensor cache with the
+        # most recent frame seen for each sensor.  After the drain the cache
+        # holds the freshest data for every registered tag.
+        #
+        # If expected_time (elapsed_seconds) is provided, the method ensures at
+        # least one sensor has data from >= expected_time before returning, so
+        # callers know callbacks for the current frame have started delivering.
+        epsilon = 1e-6
+
+        # Phase 1 – non-blocking update of the persistent cache
+        while True:
+            try:
+                tag, sensor_timestamp, data = self._new_data_buffers.get(False)
+                self._last_data[tag] = (sensor_timestamp, data)
+            except Empty:
+                break
+
+        # Phase 2 – if an expected frame time is given and no sensor has fresh
+        # data yet, briefly block until at least one callback from the current
+        # frame arrives (proving callbacks are active), then drain again.
+        if expected_time is not None:
+            has_fresh = any(
+                ts >= expected_time - epsilon for ts, _ in self._last_data.values()
             )
-
-        return data_dict
+            if not has_fresh and self._sensors_objects:
+                try:
+                    tag, sensor_timestamp, data = self._new_data_buffers.get(True, 0.01)
+                    self._last_data[tag] = (sensor_timestamp, data)
+                except Empty:
+                    pass
+                # Drain anything else that arrived while we waited
+                while True:
+                    try:
+                        tag, sensor_timestamp, data = self._new_data_buffers.get(False)
+                        self._last_data[tag] = (sensor_timestamp, data)
+                    except Empty:
+                        break
+
+        # Phase 3 – blocking wait for any sensor that has NEVER produced data
+        missing = set(self._sensors_objects.keys()) - set(self._last_data.keys())
+        if missing:
+            deadline = time.monotonic() + self._queue_timeout
+            while missing:
+                remaining = deadline - time.monotonic()
+                if remaining <= 0.0:
+                    raise SensorReceivedNoData(
+                        f"Sensor(s) {missing} failed to produce initial data"
+                    )
+                try:
+                    tag, sensor_timestamp, data = self._new_data_buffers.get(
+                        True, remaining
+                    )
+                    self._last_data[tag] = (sensor_timestamp, data)
+                    missing.discard(tag)
+                except Empty:
+                    raise SensorReceivedNoData(
+                        f"Sensor(s) {missing} failed to produce initial data"
+                    )
+
+        return dict(self._last_data)
 
 
 # Sensor Wrapper
@@ -123,8 +179,8 @@ class SensorWrapper(object):
     def __init__(self, agent):
         self._agent = agent
 
-    def __call__(self):
-        return self._agent()  # type: ignore
+    def __call__(self, timestamp=None):
+        return self._agent(timestamp)  # type: ignore
 
     def setup_sensors(self, vehicle, debug_mode=False):
         """Create and attach the sensor defined in objects.json."""
diff --git a/srunner/autoagents/autoware_nodes/autoware_node.py b/srunner/autoagents/autoware_nodes/autoware_node.py
index 6b7e172..f008fb3 100644
--- a/srunner/autoagents/autoware_nodes/autoware_node.py
+++ b/srunner/autoagents/autoware_nodes/autoware_node.py
@@ -7,7 +7,6 @@
 
 from typing import Optional
 
-from rclpy.node import Node
 from autoware_vehicle_msgs.msg import Engage
 from autoware_adapi_v1_msgs.srv import InitializeLocalization
 from autoware_adapi_v1_msgs.srv._initialize_localization import (
@@ -26,15 +25,16 @@
 logger.propagate = False
 
 
-class AutowareNode():
+class AutowareNode:
     engage_topic = "/autoware/engage"
     localize_service = "/api/localization/initialize"
 
     def __init__(self, autoware_state_instance: autoware_state.AutowareState, node):
-
         self.node = node
 
-        self.engage_publisher = self.node.create_publisher(Engage, self.engage_topic, 10)
+        self.engage_publisher = self.node.create_publisher(
+            Engage, self.engage_topic, 10
+        )
 
         self.localize_client = self.node.create_client(
             InitializeLocalization, self.localize_service
diff --git a/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py b/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
index 6066633..68f9bf2 100644
--- a/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
+++ b/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
@@ -7,7 +7,6 @@
 
 import carla
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
-from visualization_msgs.msg import Marker
 from tf_transformations import quaternion_from_euler
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import Point
@@ -69,7 +68,6 @@ def autoware_from_world_coords(self) -> Pose:
 
         return pose
 
-
     def __str__(self) -> str:
         if self.pose:
             return f"{self.pose}"
diff --git a/srunner/autoagents/autoware_nodes/route_node.py b/srunner/autoagents/autoware_nodes/route_node.py
index ad7bde6..46fbe66 100644
--- a/srunner/autoagents/autoware_nodes/route_node.py
+++ b/srunner/autoagents/autoware_nodes/route_node.py
@@ -5,7 +5,6 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-from rclpy.node import Node
 from geometry_msgs.msg import Pose
 
 # Import the service types directly
@@ -21,7 +20,8 @@
 logger = logging.getLogger("scenario-runner")
 logger.propagate = False
 
-class RouteNode():
+
+class RouteNode:
     last_goal = None
     last_waypoints = []
 
@@ -46,26 +46,22 @@ def __init__(self, autoware_state, node) -> None:
             ClearRoute, self.clear_route_service_name
         )
 
-        self.goal_publisher = self.node.create_publisher(PoseStamped, self.goal_topic, 10)
+        self.goal_publisher = self.node.create_publisher(
+            PoseStamped, self.goal_topic, 10
+        )
         self.checkpoint_publisher = self.node.create_publisher(
             PoseStamped, self.checkpoint_topic, 10
         )
 
         # Good practice: Wait for the service server to be available before trying to call it
-        logger.info(
-            f"Waiting for '{self.set_route_points_service_name}' service..."
-        )
+        logger.info(f"Waiting for '{self.set_route_points_service_name}' service...")
         while not self.set_route_client.wait_for_service(timeout_sec=1.0):
             logger.info(
                 f"Service '{self.set_route_points_service_name}' not available, waiting again..."
             )
-        logger.info(
-            f"Service '{self.set_route_points_service_name}' available."
-        )
+        logger.info(f"Service '{self.set_route_points_service_name}' available.")
 
-        logger.info(
-            f"Waiting for '{self.clear_route_service_name}' service..."
-        )
+        logger.info(f"Waiting for '{self.clear_route_service_name}' service...")
         while not self.clear_route_client.wait_for_service(timeout_sec=1.0):
             logger.info(
                 f"Service '{self.clear_route_service_name}' not available, waiting again..."
@@ -129,8 +125,6 @@ def clear_route_response_callback(self, future):
             if response.status.success:
                 logger.info("Route cleared successfully!")
             else:
-                logger.warn(
-                    f"Failed to clear route: {response.status.message}"
-                )
+                logger.warn(f"Failed to clear route: {response.status.message}")
         except Exception as e:
             logger.error(f"Service call failed: {e}")
diff --git a/srunner/scenarioconfigs/scenario_configuration.py b/srunner/scenarioconfigs/scenario_configuration.py
index a6dc6aa..60d6277 100644
--- a/srunner/scenarioconfigs/scenario_configuration.py
+++ b/srunner/scenarioconfigs/scenario_configuration.py
@@ -13,13 +13,22 @@
 
 
 class ActorConfigurationData(object):
-
     """
     This is a configuration base class to hold model and transform attributes
     """
 
-    def __init__(self, model, transform, rolename='other', speed=0, autopilot=False,
-                 random=False, color=None, category="car", args=None):
+    def __init__(
+        self,
+        model,
+        transform,
+        rolename="other",
+        speed=0,
+        autopilot=False,
+        random=False,
+        color=None,
+        category="car",
+        args=None,
+    ):
         self.model = model
         self.rolename = rolename
         self.transform = transform
@@ -36,30 +45,34 @@ def parse_from_node(node, rolename):
         static method to initialize an ActorConfigurationData from a given ET tree
         """
 
-        model = node.attrib.get('model', 'vehicle.*')
+        model = node.attrib.get("model", "vehicle.*")
 
-        pos_x = float(node.attrib.get('x', 0))
-        pos_y = float(node.attrib.get('y', 0))
-        pos_z = float(node.attrib.get('z', 0))
-        yaw = float(node.attrib.get('yaw', 0))
+        pos_x = float(node.attrib.get("x", 0))
+        pos_y = float(node.attrib.get("y", 0))
+        pos_z = float(node.attrib.get("z", 0))
+        yaw = float(node.attrib.get("yaw", 0))
 
-        transform = carla.Transform(carla.Location(x=pos_x, y=pos_y, z=pos_z), carla.Rotation(yaw=yaw))
+        transform = carla.Transform(
+            carla.Location(x=pos_x, y=pos_y, z=pos_z), carla.Rotation(yaw=yaw)
+        )
 
-        rolename = node.attrib.get('rolename', rolename)
+        rolename = node.attrib.get("rolename", rolename)
 
-        speed = node.attrib.get('speed', 0)
+        speed = node.attrib.get("speed", 0)
 
         autopilot = False
-        if 'autopilot' in node.keys():
+        if "autopilot" in node.keys():
             autopilot = True
 
         random_location = False
-        if 'random_location' in node.keys():
+        if "random_location" in node.keys():
             random_location = True
 
-        color = node.attrib.get('color', None)
+        color = node.attrib.get("color", None)
 
-        return ActorConfigurationData(model, transform, rolename, speed, autopilot, random_location, color)
+        return ActorConfigurationData(
+            model, transform, rolename, speed, autopilot, random_location, color
+        )
 
     @staticmethod
     def parse_from_dict(actor_dict, rolename):
@@ -67,25 +80,30 @@ def parse_from_dict(actor_dict, rolename):
         static method to initialize an ActorConfigurationData from a given ET tree
         """
 
-        model = actor_dict['model'] if 'model' in actor_dict else 'vehicle.*'
+        model = actor_dict["model"] if "model" in actor_dict else "vehicle.*"
 
-        pos_x = float(actor_dict['x']) if 'x' in actor_dict else 0
-        pos_y = float(actor_dict['y']) if 'y' in actor_dict else 0
-        pos_z = float(actor_dict['z']) if 'z' in actor_dict else 0
-        yaw = float(actor_dict['yaw']) if 'yaw' in actor_dict else 0
-        transform = carla.Transform(carla.Location(x=pos_x, y=pos_y, z=pos_z), carla.Rotation(yaw=yaw))
+        pos_x = float(actor_dict["x"]) if "x" in actor_dict else 0
+        pos_y = float(actor_dict["y"]) if "y" in actor_dict else 0
+        pos_z = float(actor_dict["z"]) if "z" in actor_dict else 0
+        yaw = float(actor_dict["yaw"]) if "yaw" in actor_dict else 0
+        transform = carla.Transform(
+            carla.Location(x=pos_x, y=pos_y, z=pos_z), carla.Rotation(yaw=yaw)
+        )
 
-        rolename = actor_dict['rolename'] if 'rolename' in actor_dict else rolename
-        speed = actor_dict['speed'] if 'speed' in actor_dict else 0
-        autopilot = actor_dict['autopilot'] if 'autopilot' in actor_dict else False
-        random_location = actor_dict['random_location'] if 'random_location' in actor_dict else False
-        color = actor_dict['color'] if 'color' in actor_dict else None
+        rolename = actor_dict["rolename"] if "rolename" in actor_dict else rolename
+        speed = actor_dict["speed"] if "speed" in actor_dict else 0
+        autopilot = actor_dict["autopilot"] if "autopilot" in actor_dict else False
+        random_location = (
+            actor_dict["random_location"] if "random_location" in actor_dict else False
+        )
+        color = actor_dict["color"] if "color" in actor_dict else None
 
-        return ActorConfigurationData(model, transform, rolename, speed, autopilot, random_location, color)
+        return ActorConfigurationData(
+            model, transform, rolename, speed, autopilot, random_location, color
+        )
 
 
 class ScenarioConfiguration(object):
-
     """
     This class provides a basic scenario configuration incl.:
     - configurations for all actors
diff --git a/srunner/scenariomanager/actorcontrols/actor_control.py b/srunner/scenariomanager/actorcontrols/actor_control.py
index 333618d..e246d64 100644
--- a/srunner/scenariomanager/actorcontrols/actor_control.py
+++ b/srunner/scenariomanager/actorcontrols/actor_control.py
@@ -26,7 +26,6 @@
 
 
 class ActorControl(object):
-
     """
     This class provides a wrapper (access mechanism) for user-defined actor controls.
     The controllers are loaded via importlib. Therefore, the module name of the controller
@@ -63,7 +62,6 @@ class ActorControl(object):
     _last_lane_offset_command = None
 
     def __init__(self, actor, control_py_module, args, scenario_file_path):
-
         # use importlib to import the control module
         if not control_py_module:
             if isinstance(actor, carla.Walker):
@@ -77,16 +75,20 @@ def __init__(self, actor, control_py_module, args, scenario_file_path):
             if scenario_file_path:
                 sys.path.append(scenario_file_path)
             if ".py" in control_py_module:
-                module_name = os.path.basename(control_py_module).split('.')[0]
+                module_name = os.path.basename(control_py_module).split(".")[0]
                 sys.path.append(os.path.dirname(control_py_module))
                 module_control = importlib.import_module(module_name)
-                control_class_name = module_control.__name__.title().replace('_', '')
+                control_class_name = module_control.__name__.title().replace("_", "")
             else:
                 sys.path.append(os.path.dirname(__file__))
                 module_control = importlib.import_module(control_py_module)
-                control_class_name = control_py_module.split('.')[-1].title().replace('_', '')
+                control_class_name = (
+                    control_py_module.split(".")[-1].title().replace("_", "")
+                )
 
-            self.control_instance = getattr(module_control, control_class_name)(actor, args)
+            self.control_instance = getattr(module_control, control_class_name)(
+                actor, args
+            )
 
     def reset(self):
         """
diff --git a/srunner/scenariomanager/actorcontrols/basic_control.py b/srunner/scenariomanager/actorcontrols/basic_control.py
index fa59fa5..d5e4ff3 100644
--- a/srunner/scenariomanager/actorcontrols/basic_control.py
+++ b/srunner/scenariomanager/actorcontrols/basic_control.py
@@ -15,7 +15,6 @@
 
 
 class BasicControl(object):
-
     """
     This class is the base class for user-defined actor controllers
     All user-defined agents must be derived from this class.
@@ -106,7 +105,8 @@ def reset(self):
         """
         raise NotImplementedError(
             "This function must be re-implemented by the user-defined actor control."
-            "If this error becomes visible the class hierarchy is somehow broken")
+            "If this error becomes visible the class hierarchy is somehow broken"
+        )
 
     def run_step(self):
         """
@@ -115,4 +115,5 @@ def run_step(self):
         """
         raise NotImplementedError(
             "This function must be re-implemented by the user-defined actor control."
-            "If this error becomes visible the class hierarchy is somehow broken")
+            "If this error becomes visible the class hierarchy is somehow broken"
+        )
diff --git a/srunner/scenariomanager/actorcontrols/carla_autopilot.py b/srunner/scenariomanager/actorcontrols/carla_autopilot.py
index 5b03011..2d5527c 100644
--- a/srunner/scenariomanager/actorcontrols/carla_autopilot.py
+++ b/srunner/scenariomanager/actorcontrols/carla_autopilot.py
@@ -14,12 +14,10 @@
 - No lateral maneuvers can be enforced
 """
 
-
 from srunner.scenariomanager.actorcontrols.basic_control import BasicControl
 
 
 class CarlaAutoPilotControl(BasicControl):
-
     """
     Controller class for vehicles derived from BasicControl.
 
diff --git a/srunner/scenariomanager/actorcontrols/external_control.py b/srunner/scenariomanager/actorcontrols/external_control.py
index 694f2ff..30ef008 100644
--- a/srunner/scenariomanager/actorcontrols/external_control.py
+++ b/srunner/scenariomanager/actorcontrols/external_control.py
@@ -17,7 +17,6 @@
 
 
 class ExternalControl(BasicControl):
-
     """
     Actor control class for actors, with externally implemented longitudinal and
     lateral controlers (e.g. Autoware).
diff --git a/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py b/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
index f6caebd..944b7ef 100644
--- a/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
+++ b/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
@@ -20,7 +20,6 @@
 
 
 class NpcVehicleControl(BasicControl):
-
     """
     Controller class for vehicles derived from BasicControl.
 
@@ -30,15 +29,18 @@ class NpcVehicleControl(BasicControl):
         actor (carla.Actor): Vehicle actor that should be controlled.
     """
 
-    _args = {'K_P': 1.0, 'K_D': 0.01, 'K_I': 0.0, 'dt': 0.05}
+    _args = {"K_P": 1.0, "K_D": 0.01, "K_I": 0.0, "dt": 0.05}
 
     def __init__(self, actor, args=None):
         super(NpcVehicleControl, self).__init__(actor)
 
         self._local_planner = LocalPlanner(  # pylint: disable=undefined-variable
-            self._actor, opt_dict={
-                'target_speed': self._target_speed * 3.6,
-                'lateral_control_dict': self._args})
+            self._actor,
+            opt_dict={
+                "target_speed": self._target_speed * 3.6,
+                "lateral_control_dict": self._args,
+            },
+        )
 
         if self._waypoints:
             self._update_plan()
@@ -52,7 +54,8 @@ def _update_plan(self):
         plan = []
         for transform in self._waypoints:
             waypoint = CarlaDataProvider.get_map().get_waypoint(
-                transform.location, project_to_road=True, lane_type=carla.LaneType.Any)
+                transform.location, project_to_road=True, lane_type=carla.LaneType.Any
+            )
             plan.append((waypoint, RoadOption.LANEFOLLOW))
         self._local_planner.set_global_plan(plan)
 
@@ -60,7 +63,7 @@ def _update_offset(self):
         """
         Update the plan (waypoint list) of the LocalPlanner
         """
-        self._local_planner._vehicle_controller._lat_controller._offset = self._offset   # pylint: disable=protected-access
+        self._local_planner._vehicle_controller._lat_controller._offset = self._offset  # pylint: disable=protected-access
 
     def reset(self):
         """
@@ -115,10 +118,11 @@ def run_step(self):
 
         self._actor.apply_control(control)
 
-        current_speed = math.sqrt(self._actor.get_velocity().x**2 + self._actor.get_velocity().y**2)
+        current_speed = math.sqrt(
+            self._actor.get_velocity().x ** 2 + self._actor.get_velocity().y ** 2
+        )
 
         if self._init_speed:
-
             # If _init_speed is set, and the PID controller is not yet up to the point to take over,
             # we manually set the vehicle to drive with the correct velocity
             if abs(target_speed - current_speed) > 3:
@@ -128,7 +132,9 @@ def run_step(self):
                 self._actor.set_target_velocity(carla.Vector3D(vx, vy, 0))
 
         # Change Brake light state
-        if (current_speed > target_speed or target_speed < 0.2) and not self._brake_lights_active:
+        if (
+            current_speed > target_speed or target_speed < 0.2
+        ) and not self._brake_lights_active:
             light_state = self._actor.get_light_state()
             light_state |= carla.VehicleLightState.Brake
             self._actor.set_light_state(carla.VehicleLightState(light_state))
diff --git a/srunner/scenariomanager/actorcontrols/pedestrian_control.py b/srunner/scenariomanager/actorcontrols/pedestrian_control.py
index cd7554b..9c5db1b 100644
--- a/srunner/scenariomanager/actorcontrols/pedestrian_control.py
+++ b/srunner/scenariomanager/actorcontrols/pedestrian_control.py
@@ -17,7 +17,6 @@
 
 
 class PedestrianControl(BasicControl):
-
     """
     Controller class for pedestrians derived from BasicControl.
 
@@ -27,7 +26,9 @@ class PedestrianControl(BasicControl):
 
     def __init__(self, actor, args=None):
         if not isinstance(actor, carla.Walker):
-            raise RuntimeError("PedestrianControl: The to be controlled actor is not a pedestrian")
+            raise RuntimeError(
+                "PedestrianControl: The to be controlled actor is not a pedestrian"
+            )
 
         super(PedestrianControl, self).__init__(actor)
 
@@ -73,5 +74,7 @@ def run_step(self):
                 if not self._waypoints:
                     self._reached_goal = True
         else:
-            control.direction = self._actor.get_transform().rotation.get_forward_vector()
+            control.direction = (
+                self._actor.get_transform().rotation.get_forward_vector()
+            )
             self._actor.apply_control(control)
diff --git a/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py b/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
index 5f1d58d..b001437 100644
--- a/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
+++ b/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
@@ -26,7 +26,6 @@
 
 
 class SimpleVehicleControl(BasicControl):
-
     """
     Controller class for vehicles derived from BasicControl.
 
@@ -92,45 +91,64 @@ def __init__(self, actor, args=None):
         self._last_update = None
         self._consider_traffic_lights = False
         self._consider_obstacles = False
-        self._proximity_threshold = float('inf')
+        self._proximity_threshold = float("inf")
         self._waypoint_reached_threshold = 4.0
         self._max_deceleration = None
         self._max_acceleration = None
 
         self._obstacle_sensor = None
-        self._obstacle_distance = float('inf')
+        self._obstacle_distance = float("inf")
         self._obstacle_actor = None
 
         self._visualizer = None
 
         self._brake_lights_active = False
 
-        if args and 'consider_obstacles' in args and strtobool(args['consider_obstacles']):
-            self._consider_obstacles = strtobool(args['consider_obstacles'])
-            bp = CarlaDataProvider.get_world().get_blueprint_library().find('sensor.other.obstacle')
-            bp.set_attribute('distance', '250')
-            if args and 'proximity_threshold' in args:
-                self._proximity_threshold = float(args['proximity_threshold'])
-                bp.set_attribute('distance', str(max(float(args['proximity_threshold']), 250)))
-            bp.set_attribute('hit_radius', '1')
-            bp.set_attribute('only_dynamics', 'True')
+        if (
+            args
+            and "consider_obstacles" in args
+            and strtobool(args["consider_obstacles"])
+        ):
+            self._consider_obstacles = strtobool(args["consider_obstacles"])
+            bp = (
+                CarlaDataProvider.get_world()
+                .get_blueprint_library()
+                .find("sensor.other.obstacle")
+            )
+            bp.set_attribute("distance", "250")
+            if args and "proximity_threshold" in args:
+                self._proximity_threshold = float(args["proximity_threshold"])
+                bp.set_attribute(
+                    "distance", str(max(float(args["proximity_threshold"]), 250))
+                )
+            bp.set_attribute("hit_radius", "1")
+            bp.set_attribute("only_dynamics", "True")
             self._obstacle_sensor = CarlaDataProvider.get_world().spawn_actor(
-                bp, carla.Transform(carla.Location(x=self._actor.bounding_box.extent.x, z=1.0)), attach_to=self._actor)
+                bp,
+                carla.Transform(
+                    carla.Location(x=self._actor.bounding_box.extent.x, z=1.0)
+                ),
+                attach_to=self._actor,
+            )
             self._obstacle_sensor.listen(lambda event: self._on_obstacle(event))  # pylint: disable=unnecessary-lambda
 
-        if args and 'consider_trafficlights' in args and strtobool(args['consider_trafficlights']):
-            self._consider_traffic_lights = strtobool(args['consider_trafficlights'])
+        if (
+            args
+            and "consider_trafficlights" in args
+            and strtobool(args["consider_trafficlights"])
+        ):
+            self._consider_traffic_lights = strtobool(args["consider_trafficlights"])
 
-        if args and 'waypoint_reached_threshold' in args:
-            self._waypoint_reached_threshold = float(args['waypoint_reached_threshold'])
+        if args and "waypoint_reached_threshold" in args:
+            self._waypoint_reached_threshold = float(args["waypoint_reached_threshold"])
 
-        if args and 'max_deceleration' in args:
-            self._max_deceleration = float(args['max_deceleration'])
+        if args and "max_deceleration" in args:
+            self._max_deceleration = float(args["max_deceleration"])
 
-        if args and 'max_acceleration' in args:
-            self._max_acceleration = float(args['max_acceleration'])
+        if args and "max_acceleration" in args:
+            self._max_acceleration = float(args["max_acceleration"])
 
-        if args and 'attach_camera' in args and strtobool(args['attach_camera']):
+        if args and "attach_camera" in args and strtobool(args["attach_camera"]):
             self._visualizer = Visualizer(self._actor)
 
     def _on_obstacle(self, event):
@@ -190,9 +208,13 @@ def run_step(self):
 
             map_wp = None
             if not self._generated_waypoint_list:
-                map_wp = CarlaDataProvider.get_map().get_waypoint(CarlaDataProvider.get_location(self._actor))
+                map_wp = CarlaDataProvider.get_map().get_waypoint(
+                    CarlaDataProvider.get_location(self._actor)
+                )
             else:
-                map_wp = CarlaDataProvider.get_map().get_waypoint(self._generated_waypoint_list[-1].location)
+                map_wp = CarlaDataProvider.get_map().get_waypoint(
+                    self._generated_waypoint_list[-1].location
+                )
             while len(self._generated_waypoint_list) < 50:
                 map_wps = map_wp.next(2.0)
                 if map_wps:
@@ -202,25 +224,38 @@ def run_step(self):
                     break
 
             # Remove all waypoints that are too close to the vehicle
-            while (self._generated_waypoint_list and
-                   self._generated_waypoint_list[0].location.distance(self._actor.get_location()) < 0.5):
+            while (
+                self._generated_waypoint_list
+                and self._generated_waypoint_list[0].location.distance(
+                    self._actor.get_location()
+                )
+                < 0.5
+            ):
                 self._generated_waypoint_list = self._generated_waypoint_list[1:]
 
-            direction_norm = self._set_new_velocity(self._offset_waypoint(self._generated_waypoint_list[0]))
+            direction_norm = self._set_new_velocity(
+                self._offset_waypoint(self._generated_waypoint_list[0])
+            )
             if direction_norm < 2.0:
                 self._generated_waypoint_list = self._generated_waypoint_list[1:]
         else:
             # When changing from "free" driving without pre-defined waypoints to a defined route with waypoints
             # it may happen that the first few waypoints are too close to the ego vehicle for obtaining a
             # reasonable control command. Therefore, we drop these waypoints first.
-            while self._waypoints and self._waypoints[0].location.distance(self._actor.get_location()) < 0.5:
+            while (
+                self._waypoints
+                and self._waypoints[0].location.distance(self._actor.get_location())
+                < 0.5
+            ):
                 self._waypoints = self._waypoints[1:]
 
             self._reached_goal = False
             if not self._waypoints:
                 self._reached_goal = True
             else:
-                direction_norm = self._set_new_velocity(self._offset_waypoint(self._waypoints[0]))
+                direction_norm = self._set_new_velocity(
+                    self._offset_waypoint(self._waypoints[0])
+                )
                 if direction_norm < self._waypoint_reached_threshold:
                     self._waypoints = self._waypoints[1:]
                     if not self._waypoints:
@@ -241,8 +276,9 @@ def _offset_waypoint(self, transform):
             offset_location = transform.location
         else:
             right_vector = transform.get_right_vector()
-            offset_location = transform.location + carla.Location(x=self._offset*right_vector.x,
-                                                                  y=self._offset*right_vector.y)
+            offset_location = transform.location + carla.Location(
+                x=self._offset * right_vector.x, y=self._offset * right_vector.y
+            )
 
         return offset_location
 
@@ -272,7 +308,9 @@ def _set_new_velocity(self, next_location):
         if not self._last_update:
             self._last_update = current_time
 
-        current_speed = math.sqrt(self._actor.get_velocity().x**2 + self._actor.get_velocity().y**2)
+        current_speed = math.sqrt(
+            self._actor.get_velocity().x ** 2 + self._actor.get_velocity().y ** 2
+        )
 
         if self._consider_obstacles:
             # If distance is less than the proximity threshold, adapt velocity
@@ -280,16 +318,26 @@ def _set_new_velocity(self, next_location):
                 distance = max(self._obstacle_distance, 0)
                 if distance > 0:
                     current_speed_other = math.sqrt(
-                        self._obstacle_actor.get_velocity().x**2 + self._obstacle_actor.get_velocity().y**2)
+                        self._obstacle_actor.get_velocity().x ** 2
+                        + self._obstacle_actor.get_velocity().y ** 2
+                    )
                     if current_speed_other < current_speed:
-                        acceleration = -0.5 * (current_speed - current_speed_other)**2 / distance
-                        target_speed = max(acceleration * (current_time - self._last_update) + current_speed, 0)
+                        acceleration = (
+                            -0.5 * (current_speed - current_speed_other) ** 2 / distance
+                        )
+                        target_speed = max(
+                            acceleration * (current_time - self._last_update)
+                            + current_speed,
+                            0,
+                        )
                 else:
                     target_speed = 0
 
         if self._consider_traffic_lights:
-            if (self._actor.is_at_traffic_light() and
-                    self._actor.get_traffic_light_state() == carla.TrafficLightState.Red):
+            if (
+                self._actor.is_at_traffic_light()
+                and self._actor.get_traffic_light_state() == carla.TrafficLightState.Red
+            ):
                 target_speed = 0
 
         if target_speed < current_speed:
@@ -299,8 +347,11 @@ def _set_new_velocity(self, next_location):
                 light_state |= carla.VehicleLightState.Brake
                 self._actor.set_light_state(carla.VehicleLightState(light_state))
             if self._max_deceleration is not None:
-                target_speed = max(target_speed, current_speed - (current_time -
-                                                                  self._last_update) * self._max_deceleration)
+                target_speed = max(
+                    target_speed,
+                    current_speed
+                    - (current_time - self._last_update) * self._max_deceleration,
+                )
         else:
             if self._brake_lights_active:
                 self._brake_lights_active = False
@@ -308,8 +359,11 @@ def _set_new_velocity(self, next_location):
                 light_state &= ~carla.VehicleLightState.Brake
                 self._actor.set_light_state(carla.VehicleLightState(light_state))
             if self._max_acceleration is not None:
-                tmp_speed = min(target_speed, current_speed + (current_time -
-                                                               self._last_update) * self._max_acceleration)
+                tmp_speed = min(
+                    target_speed,
+                    current_speed
+                    + (current_time - self._last_update) * self._max_acceleration,
+                )
                 # If the tmp_speed is < 0.5 the vehicle may not properly accelerate.
                 # Therefore, we bump the speed to 0.5 m/s if target_speed allows.
                 target_speed = max(tmp_speed, min(0.5, target_speed))
@@ -330,7 +384,11 @@ def _set_new_velocity(self, next_location):
         if self._waypoints:
             delta_yaw = math.degrees(math.atan2(direction.y, direction.x)) - current_yaw
         else:
-            new_yaw = CarlaDataProvider.get_map().get_waypoint(next_location).transform.rotation.yaw
+            new_yaw = (
+                CarlaDataProvider.get_map()
+                .get_waypoint(next_location)
+                .transform.rotation.yaw
+            )
             delta_yaw = new_yaw - current_yaw
 
         if math.fabs(delta_yaw) > 360:
diff --git a/srunner/scenariomanager/actorcontrols/vehicle_longitudinal_control.py b/srunner/scenariomanager/actorcontrols/vehicle_longitudinal_control.py
index 62f6426..e2bb12b 100644
--- a/srunner/scenariomanager/actorcontrols/vehicle_longitudinal_control.py
+++ b/srunner/scenariomanager/actorcontrols/vehicle_longitudinal_control.py
@@ -17,7 +17,6 @@
 
 
 class VehicleLongitudinalControl(BasicControl):
-
     """
     Controller class for vehicles derived from BasicControl.
 
diff --git a/srunner/scenariomanager/actorcontrols/visualizer.py b/srunner/scenariomanager/actorcontrols/visualizer.py
index 5c0c670..38ad999 100644
--- a/srunner/scenariomanager/actorcontrols/visualizer.py
+++ b/srunner/scenariomanager/actorcontrols/visualizer.py
@@ -24,7 +24,6 @@
 
 
 class Visualizer(object):
-
     """
     Visualizer class for actor controllers.
 
@@ -60,25 +59,41 @@ def __init__(self, actor):
         self._camera_bird = None
         self._camera_actor = None
 
-        bp = CarlaDataProvider.get_world().get_blueprint_library().find('sensor.camera.rgb')
-        bp.set_attribute('image_size_x', '1000')
-        bp.set_attribute('image_size_y', '400')
-        self._camera_bird = CarlaDataProvider.get_world().spawn_actor(bp, carla.Transform(
-            carla.Location(x=20.0, z=50.0), carla.Rotation(pitch=-90, yaw=-90)), attach_to=self._actor)
-        self._camera_bird.listen(lambda image: self._on_camera_update(
-            image, birdseye=True))  # pylint: disable=unnecessary-lambda
-
-        bp = CarlaDataProvider.get_world().get_blueprint_library().find('sensor.camera.rgb')
-        bp.set_attribute('image_size_x', '1000')
-        bp.set_attribute('image_size_y', '400')
-        self._camera_actor = CarlaDataProvider.get_world().spawn_actor(bp, carla.Transform(
-            carla.Location(x=2.3, z=1.0)), attach_to=self._actor)
-        self._camera_actor.listen(lambda image: self._on_camera_update(
-            image, birdseye=False))  # pylint: disable=unnecessary-lambda
+        bp = (
+            CarlaDataProvider.get_world()
+            .get_blueprint_library()
+            .find("sensor.camera.rgb")
+        )
+        bp.set_attribute("image_size_x", "1000")
+        bp.set_attribute("image_size_y", "400")
+        self._camera_bird = CarlaDataProvider.get_world().spawn_actor(
+            bp,
+            carla.Transform(
+                carla.Location(x=20.0, z=50.0), carla.Rotation(pitch=-90, yaw=-90)
+            ),
+            attach_to=self._actor,
+        )
+        self._camera_bird.listen(
+            lambda image: self._on_camera_update(image, birdseye=True)
+        )  # pylint: disable=unnecessary-lambda
+
+        bp = (
+            CarlaDataProvider.get_world()
+            .get_blueprint_library()
+            .find("sensor.camera.rgb")
+        )
+        bp.set_attribute("image_size_x", "1000")
+        bp.set_attribute("image_size_y", "400")
+        self._camera_actor = CarlaDataProvider.get_world().spawn_actor(
+            bp, carla.Transform(carla.Location(x=2.3, z=1.0)), attach_to=self._actor
+        )
+        self._camera_actor.listen(
+            lambda image: self._on_camera_update(image, birdseye=False)
+        )  # pylint: disable=unnecessary-lambda
 
         if self._video_writer:
-            fourcc = cv2.VideoWriter_fourcc(*'mp4v')
-            self._video = cv2.VideoWriter('recorded_video.avi', fourcc, 13, (1000, 800))
+            fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+            self._video = cv2.VideoWriter("recorded_video.avi", fourcc, 13, (1000, 800))
 
     def reset(self):
         """
@@ -116,13 +131,24 @@ def render(self):
         if self._cv_image_actor is not None and self._cv_image_bird is not None:
             im_v = cv2.vconcat([self._cv_image_actor, self._cv_image_bird])
             cv2.circle(im_v, (900, 300), 80, (170, 170, 170), -1)
-            text = str(int(round((self._actor.get_velocity().x * 3.6))))+" kph"
-
-            speed = np.sqrt(self._actor.get_velocity().x**2 + self._actor.get_velocity().y**2)
-
-            text = str(int(round((speed * 3.6))))+" kph"
-            text = ' '*(7-len(text)) + text
-            im_v = cv2.putText(im_v, text, (830, 310), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA)
+            text = str(int(round((self._actor.get_velocity().x * 3.6)))) + " kph"
+
+            speed = np.sqrt(
+                self._actor.get_velocity().x ** 2 + self._actor.get_velocity().y ** 2
+            )
+
+            text = str(int(round((speed * 3.6)))) + " kph"
+            text = " " * (7 - len(text)) + text
+            im_v = cv2.putText(
+                im_v,
+                text,
+                (830, 310),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                1,
+                (0, 0, 0),
+                2,
+                cv2.LINE_AA,
+            )
             cv2.imshow("", im_v)
             cv2.waitKey(1)
 
diff --git a/srunner/scenariomanager/carla_data_provider.py b/srunner/scenariomanager/carla_data_provider.py
index 83996fb..612d8ac 100644
--- a/srunner/scenariomanager/carla_data_provider.py
+++ b/srunner/scenariomanager/carla_data_provider.py
@@ -26,13 +26,12 @@ def calculate_velocity(actor):
     """
     Method to calculate the velocity of a actor
     """
-    velocity_squared = actor.get_velocity().x**2
-    velocity_squared += actor.get_velocity().y**2
+    velocity_squared = actor.get_velocity().x ** 2
+    velocity_squared += actor.get_velocity().y ** 2
     return math.sqrt(velocity_squared)
 
 
 class CarlaDataProvider(object):  # pylint: disable=too-many-public-methods
-
     """
     This class provides access to various data of all registered actors
     It buffers the data and updates it on every CARLA tick
@@ -88,12 +87,18 @@ def register_actor(actor, transform=None):
         with CarlaDataProvider._lock:
             if actor in CarlaDataProvider._actor_velocity_map:
                 raise KeyError(
-                    "Vehicle '{}' already registered. Cannot register twice!".format(actor.id))
+                    "Vehicle '{}' already registered. Cannot register twice!".format(
+                        actor.id
+                    )
+                )
             else:
                 CarlaDataProvider._actor_velocity_map[actor] = 0.0
             if actor in CarlaDataProvider._actor_location_map:
                 raise KeyError(
-                    "Vehicle '{}' already registered. Cannot register twice!".format(actor.id))
+                    "Vehicle '{}' already registered. Cannot register twice!".format(
+                        actor.id
+                    )
+                )
             elif transform:
                 CarlaDataProvider._actor_location_map[actor] = transform.location
             else:
@@ -101,7 +106,10 @@ def register_actor(actor, transform=None):
 
             if actor in CarlaDataProvider._actor_transform_map:
                 raise KeyError(
-                    "Vehicle '{}' already registered. Cannot register twice!".format(actor.id))
+                    "Vehicle '{}' already registered. Cannot register twice!".format(
+                        actor.id
+                    )
+                )
             else:
                 CarlaDataProvider._actor_transform_map[actor] = transform
 
@@ -138,7 +146,9 @@ def on_carla_tick():
         with CarlaDataProvider._lock:
             for actor in CarlaDataProvider._actor_velocity_map:
                 if actor is not None and actor.is_alive:
-                    CarlaDataProvider._actor_velocity_map[actor] = calculate_velocity(actor)
+                    CarlaDataProvider._actor_velocity_map[actor] = calculate_velocity(
+                        actor
+                    )
 
             for actor in CarlaDataProvider._actor_location_map:
                 if actor is not None and actor.is_alive:
@@ -146,7 +156,9 @@ def on_carla_tick():
 
             for actor in CarlaDataProvider._actor_transform_map:
                 if actor is not None and actor.is_alive:
-                    CarlaDataProvider._actor_transform_map[actor] = actor.get_transform()
+                    CarlaDataProvider._actor_transform_map[actor] = (
+                        actor.get_transform()
+                    )
 
             world = CarlaDataProvider._world
             if world is None:
@@ -159,13 +171,14 @@ def get_velocity(actor):
         """
         returns the absolute velocity for the given actor
         """
-        for key in CarlaDataProvider._actor_velocity_map:
-            if key.id == actor.id:
-                return CarlaDataProvider._actor_velocity_map[key]
+        with CarlaDataProvider._lock:
+            for key in CarlaDataProvider._actor_velocity_map:
+                if key.id == actor.id:
+                    return CarlaDataProvider._actor_velocity_map[key]
 
         # We are intentionally not throwing here
         # This may cause exception loops in py_trees
-        print('{}.get_velocity: {} not found!' .format(__name__, actor))
+        print("{}.get_velocity: {} not found!".format(__name__, actor))
         return 0.0
 
     @staticmethod
@@ -173,13 +186,14 @@ def get_location(actor):
         """
         returns the location for the given actor
         """
-        for key in CarlaDataProvider._actor_location_map:
-            if key.id == actor.id:
-                return CarlaDataProvider._actor_location_map[key]
+        with CarlaDataProvider._lock:
+            for key in CarlaDataProvider._actor_location_map:
+                if key.id == actor.id:
+                    return CarlaDataProvider._actor_location_map[key]
 
         # We are intentionally not throwing here
         # This may cause exception loops in py_trees
-        print('{}.get_location: {} not found!' .format(__name__, actor))
+        print("{}.get_location: {} not found!".format(__name__, actor))
         return None
 
     @staticmethod
@@ -187,18 +201,18 @@ def get_transform(actor):
         """
         returns the transform for the given actor
         """
-        for key in CarlaDataProvider._actor_transform_map:
-            if key.id == actor.id:
-                # The velocity location information is the entire behavior tree updated every tick
-                # The ego vehicle is created before the behavior tree tick, so exception handling needs to be added
-                if CarlaDataProvider._actor_transform_map[key] is None:
-                    return actor.get_transform()
-                return CarlaDataProvider._actor_transform_map[key]
+        with CarlaDataProvider._lock:
+            for key in CarlaDataProvider._actor_transform_map:
+                if key.id == actor.id:
+                    cached = CarlaDataProvider._actor_transform_map[key]
+                    if cached is not None:
+                        return cached
+                    break
+            else:
+                print("{}.get_transform: {} not found!".format(__name__, actor))
+                return None
 
-        # We are intentionally not throwing here
-        # This may cause exception loops in py_trees
-        print('{}.get_transform: {} not found!' .format(__name__, actor))
-        return None
+        return actor.get_transform()
 
     @staticmethod
     def set_client(client):
@@ -242,7 +256,7 @@ def get_map(world=None):
         if CarlaDataProvider._map is None:
             if world is None:
                 if CarlaDataProvider._world is None:
-                    raise ValueError("class member \'world'\' not initialized yet")
+                    raise ValueError("class member 'world'' not initialized yet")
                 else:
                     CarlaDataProvider._map = CarlaDataProvider._world.get_map()
             else:
@@ -303,9 +317,9 @@ def find_weather_presets():
         """
         Get weather presets from CARLA
         """
-        rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
-        name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
-        presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
+        rgx = re.compile(".+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)")
+        name = lambda x: " ".join(m.group(0) for m in rgx.finditer(x))
+        presets = [x for x in dir(carla.WeatherParameters) if re.match("[A-Z].+", x)]
         return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
 
     @staticmethod
@@ -319,22 +333,31 @@ def prepare_map():
 
         # Parse all traffic lights
         CarlaDataProvider._traffic_light_map.clear()
-        for traffic_light in CarlaDataProvider._world.get_actors().filter('*traffic_light*'):
+        for traffic_light in CarlaDataProvider._world.get_actors().filter(
+            "*traffic_light*"
+        ):
             if traffic_light not in list(CarlaDataProvider._traffic_light_map):
-                CarlaDataProvider._traffic_light_map[traffic_light] = traffic_light.get_transform()
+                CarlaDataProvider._traffic_light_map[traffic_light] = (
+                    traffic_light.get_transform()
+                )
             else:
                 raise KeyError(
-                    "Traffic light '{}' already registered. Cannot register twice!".format(traffic_light.id))
+                    "Traffic light '{}' already registered. Cannot register twice!".format(
+                        traffic_light.id
+                    )
+                )
 
     @staticmethod
     def annotate_trafficlight_in_group(traffic_light):
         """
         Get dictionary with traffic light group info for a given traffic light
         """
-        dict_annotations = {'ref': [], 'opposite': [], 'left': [], 'right': []}
+        dict_annotations = {"ref": [], "opposite": [], "left": [], "right": []}
 
         # Get the waypoints
-        ref_location = CarlaDataProvider.get_trafficlight_trigger_location(traffic_light)
+        ref_location = CarlaDataProvider.get_trafficlight_trigger_location(
+            traffic_light
+        )
         ref_waypoint = CarlaDataProvider.get_map().get_waypoint(ref_location)
         ref_yaw = ref_waypoint.transform.rotation.yaw
 
@@ -342,11 +365,15 @@ def annotate_trafficlight_in_group(traffic_light):
 
         for target_tl in group_tl:
             if traffic_light.id == target_tl.id:
-                dict_annotations['ref'].append(target_tl)
+                dict_annotations["ref"].append(target_tl)
             else:
                 # Get the angle between yaws
-                target_location = CarlaDataProvider.get_trafficlight_trigger_location(target_tl)
-                target_waypoint = CarlaDataProvider.get_map().get_waypoint(target_location)
+                target_location = CarlaDataProvider.get_trafficlight_trigger_location(
+                    target_tl
+                )
+                target_waypoint = CarlaDataProvider.get_map().get_waypoint(
+                    target_location
+                )
                 target_yaw = target_waypoint.transform.rotation.yaw
 
                 diff = (target_yaw - ref_yaw) % 360
@@ -354,25 +381,32 @@ def annotate_trafficlight_in_group(traffic_light):
                 if diff > 330:
                     continue
                 elif diff > 225:
-                    dict_annotations['right'].append(target_tl)
+                    dict_annotations["right"].append(target_tl)
                 elif diff > 135.0:
-                    dict_annotations['opposite'].append(target_tl)
+                    dict_annotations["opposite"].append(target_tl)
                 elif diff > 30:
-                    dict_annotations['left'].append(target_tl)
+                    dict_annotations["left"].append(target_tl)
 
         return dict_annotations
 
     @staticmethod
-    def get_trafficlight_trigger_location(traffic_light):    # pylint: disable=invalid-name
+    def get_trafficlight_trigger_location(traffic_light):  # pylint: disable=invalid-name
         """
         Calculates the yaw of the waypoint that represents the trigger volume of the traffic light
         """
+
         def rotate_point(point, angle):
             """
             rotate a given point by a given angle
             """
-            x_ = math.cos(math.radians(angle)) * point.x - math.sin(math.radians(angle)) * point.y
-            y_ = math.sin(math.radians(angle)) * point.x - math.cos(math.radians(angle)) * point.y
+            x_ = (
+                math.cos(math.radians(angle)) * point.x
+                - math.sin(math.radians(angle)) * point.y
+            )
+            y_ = (
+                math.sin(math.radians(angle)) * point.x
+                - math.cos(math.radians(angle)) * point.y
+            )
 
             return carla.Vector3D(x_, y_, point.z)
 
@@ -387,7 +421,9 @@ def rotate_point(point, angle):
         return carla.Location(point_location.x, point_location.y, point_location.z)
 
     @staticmethod
-    def update_light_states(ego_light, annotations, states, freeze=False, timeout=1000000000):
+    def update_light_states(
+        ego_light, annotations, states, freeze=False, timeout=1000000000
+    ):
         """
         Update traffic light states
         """
@@ -395,7 +431,7 @@ def update_light_states(ego_light, annotations, states, freeze=False, timeout=10
 
         for state in states:
             relevant_lights = []
-            if state == 'ego':
+            if state == "ego":
                 relevant_lights = [ego_light]
             else:
                 relevant_lights = annotations[state]
@@ -404,11 +440,15 @@ def update_light_states(ego_light, annotations, states, freeze=False, timeout=10
                 prev_green_time = light.get_green_time()
                 prev_red_time = light.get_red_time()
                 prev_yellow_time = light.get_yellow_time()
-                reset_params.append({'light': light,
-                                     'state': prev_state,
-                                     'green_time': prev_green_time,
-                                     'red_time': prev_red_time,
-                                     'yellow_time': prev_yellow_time})
+                reset_params.append(
+                    {
+                        "light": light,
+                        "state": prev_state,
+                        "green_time": prev_green_time,
+                        "red_time": prev_red_time,
+                        "yellow_time": prev_yellow_time,
+                    }
+                )
 
                 light.set_state(states[state])
                 if freeze:
@@ -424,10 +464,10 @@ def reset_lights(reset_params):
         Reset traffic lights
         """
         for param in reset_params:
-            param['light'].set_state(param['state'])
-            param['light'].set_green_time(param['green_time'])
-            param['light'].set_red_time(param['red_time'])
-            param['light'].set_yellow_time(param['yellow_time'])
+            param["light"].set_state(param["state"])
+            param["light"].set_green_time(param["green_time"])
+            param["light"].set_red_time(param["red_time"])
+            param["light"].set_yellow_time(param["yellow_time"])
 
     @staticmethod
     def get_next_traffic_light(actor, use_cached_location=True):
@@ -455,10 +495,12 @@ def get_next_traffic_light(actor, use_cached_location=True):
         distance_to_relevant_traffic_light = float("inf")
 
         for traffic_light in CarlaDataProvider._traffic_light_map:
-            if hasattr(traffic_light, 'trigger_volume'):
+            if hasattr(traffic_light, "trigger_volume"):
                 tl_t = CarlaDataProvider._traffic_light_map[traffic_light]
                 transformed_tv = tl_t.transform(traffic_light.trigger_volume.location)
-                distance = carla.Location(transformed_tv).distance(list_of_waypoints[-1].transform.location)
+                distance = carla.Location(transformed_tv).distance(
+                    list_of_waypoints[-1].transform.location
+                )
 
                 if distance < distance_to_relevant_traffic_light:
                     relevant_traffic_light = traffic_light
@@ -471,7 +513,9 @@ def generate_spawn_points():
         """
         Generate spawn points for the current map
         """
-        spawn_points = list(CarlaDataProvider.get_map(CarlaDataProvider._world).get_spawn_points())
+        spawn_points = list(
+            CarlaDataProvider.get_map(CarlaDataProvider._world).get_spawn_points()
+        )
         CarlaDataProvider._rng.shuffle(spawn_points)
         CarlaDataProvider._spawn_points = spawn_points
         CarlaDataProvider._spawn_index = 0
@@ -507,7 +551,6 @@ def get_road_lanes(wp):
         lane_id_set = set()
         pre_left = wp
         while wp and wp.lane_type == carla.LaneType.Driving:
-
             if wp.lane_id in lane_id_set:
                 break
             lane_id_set.add(wp.lane_id)
@@ -522,7 +565,6 @@ def get_road_lanes(wp):
         lane_id_set.clear()
         wp = pre_left
         while wp and wp.lane_type == carla.LaneType.Driving:
-
             if wp.lane_id in lane_id_set:
                 break
             lane_id_set.add(wp.lane_id)
@@ -550,7 +592,9 @@ def get_waypoint_by_laneid(lane_num: int):
         else:
             pos = CarlaDataProvider._spawn_points[CarlaDataProvider._spawn_index]  # pylint: disable=unsubscriptable-object
             CarlaDataProvider._spawn_index += 1
-            wp = CarlaDataProvider.get_map().get_waypoint(pos.location, project_to_road=True, lane_type=carla.LaneType.Driving)
+            wp = CarlaDataProvider.get_map().get_waypoint(
+                pos.location, project_to_road=True, lane_type=carla.LaneType.Driving
+            )
 
             road_lanes = CarlaDataProvider.get_road_lanes(wp)
 
@@ -561,10 +605,17 @@ def get_waypoint_by_laneid(lane_num: int):
                 return road_lanes[lane - 1]
 
     @staticmethod
-    def create_blueprint(model, rolename='scenario', color=None, actor_category="car", attribute_filter=None):
+    def create_blueprint(
+        model,
+        rolename="scenario",
+        color=None,
+        actor_category="car",
+        attribute_filter=None,
+    ):
         """
         Function to setup the blueprint of an actor given its model and other relevant parameters
         """
+
         def check_attribute_value(blueprint, name, value):
             """
             Checks if the blueprint has that attribute with that value
@@ -585,17 +636,17 @@ def check_attribute_value(blueprint, name, value):
             return False
 
         _actor_blueprint_categories = {
-            'car': 'vehicle.tesla.model3',
-            'van': 'vehicle.volkswagen.t2',
-            'truck': 'vehicle.carlamotors.carlacola',
-            'trailer': '',
-            'semitrailer': '',
-            'bus': 'vehicle.volkswagen.t2',
-            'motorbike': 'vehicle.kawasaki.ninja',
-            'bicycle': 'vehicle.diamondback.century',
-            'train': '',
-            'tram': '',
-            'pedestrian': 'walker.pedestrian.0001',
+            "car": "vehicle.tesla.model3",
+            "van": "vehicle.volkswagen.t2",
+            "truck": "vehicle.carlamotors.carlacola",
+            "trailer": "",
+            "semitrailer": "",
+            "bus": "vehicle.volkswagen.t2",
+            "motorbike": "vehicle.kawasaki.ninja",
+            "bicycle": "vehicle.diamondback.century",
+            "train": "",
+            "tram": "",
+            "pedestrian": "walker.pedestrian.0001",
         }
 
         # Set the model
@@ -603,46 +654,63 @@ def check_attribute_value(blueprint, name, value):
             blueprints = CarlaDataProvider._blueprint_library.filter(model)
             if attribute_filter is not None:
                 for key, value in attribute_filter.items():
-                    blueprints = [x for x in blueprints if check_attribute_value(x, key, value)]
+                    blueprints = [
+                        x for x in blueprints if check_attribute_value(x, key, value)
+                    ]
 
             blueprint = CarlaDataProvider._rng.choice(blueprints)
         except ValueError:
             # The model is not part of the blueprint library. Let's take a default one for the given category
             bp_filter = "vehicle.*"
             new_model = _actor_blueprint_categories[actor_category]
-            if new_model != '':
+            if new_model != "":
                 bp_filter = new_model
-            print("WARNING: Actor model {} not available. Using instead {}".format(model, new_model))
-            blueprint = CarlaDataProvider._rng.choice(CarlaDataProvider._blueprint_library.filter(bp_filter))
+            print(
+                "WARNING: Actor model {} not available. Using instead {}".format(
+                    model, new_model
+                )
+            )
+            blueprint = CarlaDataProvider._rng.choice(
+                CarlaDataProvider._blueprint_library.filter(bp_filter)
+            )
 
         # Set the color
         if color:
-            if not blueprint.has_attribute('color'):
+            if not blueprint.has_attribute("color"):
                 print(
                     "WARNING: Cannot set Color ({}) for actor {} due to missing blueprint attribute".format(
-                        color, blueprint.id))
+                        color, blueprint.id
+                    )
+                )
             else:
-                default_color_rgba = blueprint.get_attribute('color').as_color()
-                default_color = '({}, {}, {})'.format(default_color_rgba.r, default_color_rgba.g, default_color_rgba.b)
+                default_color_rgba = blueprint.get_attribute("color").as_color()
+                default_color = "({}, {}, {})".format(
+                    default_color_rgba.r, default_color_rgba.g, default_color_rgba.b
+                )
                 try:
-                    blueprint.set_attribute('color', color)
+                    blueprint.set_attribute("color", color)
                 except ValueError:
                     # Color can't be set for this vehicle
-                    print("WARNING: Color ({}) cannot be set for actor {}. Using instead: ({})".format(
-                        color, blueprint.id, default_color))
-                    blueprint.set_attribute('color', default_color)
+                    print(
+                        "WARNING: Color ({}) cannot be set for actor {}. Using instead: ({})".format(
+                            color, blueprint.id, default_color
+                        )
+                    )
+                    blueprint.set_attribute("color", default_color)
         else:
-            if blueprint.has_attribute('color') and rolename != 'hero':
-                color = CarlaDataProvider._rng.choice(blueprint.get_attribute('color').recommended_values)
-                blueprint.set_attribute('color', color)
+            if blueprint.has_attribute("color") and rolename != "hero":
+                color = CarlaDataProvider._rng.choice(
+                    blueprint.get_attribute("color").recommended_values
+                )
+                blueprint.set_attribute("color", color)
 
         # Make pedestrians mortal
-        if blueprint.has_attribute('is_invincible'):
-            blueprint.set_attribute('is_invincible', 'false')
+        if blueprint.has_attribute("is_invincible"):
+            blueprint.set_attribute("is_invincible", "false")
 
         # Set the rolename
-        if blueprint.has_attribute('role_name'):
-            blueprint.set_attribute('role_name', rolename)
+        if blueprint.has_attribute("role_name"):
+            blueprint.set_attribute("role_name", rolename)
 
         return blueprint
 
@@ -656,9 +724,11 @@ def handle_actor_batch(batch, tick=True):
         actors = []
 
         if CarlaDataProvider._client:
-            responses = CarlaDataProvider._client.apply_batch_sync(batch, sync_mode and tick)
+            responses = CarlaDataProvider._client.apply_batch_sync(
+                batch, sync_mode and tick
+            )
         else:
-            raise ValueError("class member \'client'\' not initialized yet")
+            raise ValueError("class member 'client'' not initialized yet")
 
         # Wait (or not) for the actors to be spawned properly before we do anything
         if not tick:
@@ -679,23 +749,35 @@ def handle_actor_batch(batch, tick=True):
         return actors
 
     @staticmethod
-    def request_new_actor(model, spawn_point, rolename='scenario', autopilot=False,
-                          random_location=False, color=None, actor_category="car",
-                          attribute_filter=None, tick=True):
+    def request_new_actor(
+        model,
+        spawn_point,
+        rolename="scenario",
+        autopilot=False,
+        random_location=False,
+        color=None,
+        actor_category="car",
+        attribute_filter=None,
+        tick=True,
+    ):
         """
         This method tries to create a new actor, returning it if successful (None otherwise).
         """
-        blueprint = CarlaDataProvider.create_blueprint(model, rolename, color, actor_category, attribute_filter)
+        blueprint = CarlaDataProvider.create_blueprint(
+            model, rolename, color, actor_category, attribute_filter
+        )
 
         if random_location:
             actor = None
             while not actor:
-                spawn_point = CarlaDataProvider._rng.choice(CarlaDataProvider._spawn_points)
+                spawn_point = CarlaDataProvider._rng.choice(
+                    CarlaDataProvider._spawn_points
+                )
                 actor = CarlaDataProvider._world.try_spawn_actor(blueprint, spawn_point)
 
         else:
             # For non prop models, slightly lift the actor to avoid collisions with the ground
-            z_offset = 0.2 if 'prop' not in model else 0
+            z_offset = 0.2 if "prop" not in model else 0
 
             # DO NOT USE spawn_point directly, as this will modify spawn_point permanently
             _spawn_point = carla.Transform(carla.Location(), spawn_point.rotation)
@@ -705,7 +787,11 @@ def request_new_actor(model, spawn_point, rolename='scenario', autopilot=False,
             actor = CarlaDataProvider._world.try_spawn_actor(blueprint, _spawn_point)
 
         if actor is None:
-            print("WARNING: Cannot spawn actor {} at position {}".format(model, spawn_point.location))
+            print(
+                "WARNING: Cannot spawn actor {} at position {}".format(
+                    model, spawn_point.location
+                )
+            )
             return None
 
         # De/activate the autopilot of the actor if it belongs to vehicle
@@ -742,11 +828,11 @@ def request_new_actors(actor_list, attribute_filter=None, tick=True):
         - actor_list: list of ActorConfigurationData
         """
 
-        SpawnActor = carla.command.SpawnActor                      # pylint: disable=invalid-name
-        PhysicsCommand = carla.command.SetSimulatePhysics          # pylint: disable=invalid-name
-        FutureActor = carla.command.FutureActor                    # pylint: disable=invalid-name
-        ApplyTransform = carla.command.ApplyTransform              # pylint: disable=invalid-name
-        SetAutopilot = carla.command.SetAutopilot                  # pylint: disable=invalid-name
+        SpawnActor = carla.command.SpawnActor  # pylint: disable=invalid-name
+        PhysicsCommand = carla.command.SetSimulatePhysics  # pylint: disable=invalid-name
+        FutureActor = carla.command.FutureActor  # pylint: disable=invalid-name
+        ApplyTransform = carla.command.ApplyTransform  # pylint: disable=invalid-name
+        SetAutopilot = carla.command.SetAutopilot  # pylint: disable=invalid-name
         SetVehicleLightState = carla.command.SetVehicleLightState  # pylint: disable=invalid-name
 
         batch = []
@@ -755,21 +841,29 @@ def request_new_actors(actor_list, attribute_filter=None, tick=True):
         CarlaDataProvider.generate_spawn_points()
 
         for actor in actor_list:
-
             # Get the blueprint
             blueprint = CarlaDataProvider.create_blueprint(
-                actor.model, actor.rolename, actor.color, actor.category, attribute_filter)
+                actor.model,
+                actor.rolename,
+                actor.color,
+                actor.category,
+                attribute_filter,
+            )
 
             # Get the spawn point
             transform = actor.transform
             if not transform:
                 continue
             if actor.random_location:
-                if CarlaDataProvider._spawn_index >= len(CarlaDataProvider._spawn_points):
+                if CarlaDataProvider._spawn_index >= len(
+                    CarlaDataProvider._spawn_points
+                ):
                     print("No more spawn points to use")
                     break
                 else:
-                    _spawn_point = CarlaDataProvider._spawn_points[CarlaDataProvider._spawn_index]  # pylint: disable=unsubscriptable-object
+                    _spawn_point = CarlaDataProvider._spawn_points[
+                        CarlaDataProvider._spawn_index
+                    ]  # pylint: disable=unsubscriptable-object
                     CarlaDataProvider._spawn_index += 1
 
             else:
@@ -777,11 +871,11 @@ def request_new_actors(actor_list, attribute_filter=None, tick=True):
                 _spawn_point.rotation = transform.rotation
                 _spawn_point.location.x = transform.location.x
                 _spawn_point.location.y = transform.location.y
-                if blueprint.has_tag('walker'):
+                if blueprint.has_tag("walker"):
                     # On imported OpenDRIVE maps, spawning of pedestrians can fail.
                     # By increasing the z-value the chances of success are increased.
                     map_name = CarlaDataProvider._map.name.split("/")[-1]
-                    if not map_name.startswith('OpenDrive'):
+                    if not map_name.startswith("OpenDrive"):
                         _spawn_point.location.z = transform.location.z + 0.2
                     else:
                         _spawn_point.location.z = transform.location.z + 0.8
@@ -790,14 +884,32 @@ def request_new_actors(actor_list, attribute_filter=None, tick=True):
 
             # Get the command
             command = SpawnActor(blueprint, _spawn_point)
-            command.then(SetAutopilot(FutureActor, actor.autopilot, CarlaDataProvider._traffic_manager_port))
-
-            if actor.args is not None and 'physics' in actor.args and actor.args['physics'] == "off":
-                command.then(ApplyTransform(FutureActor, _spawn_point)).then(PhysicsCommand(FutureActor, False))
-            elif actor.category == 'misc':
+            command.then(
+                SetAutopilot(
+                    FutureActor,
+                    actor.autopilot,
+                    CarlaDataProvider._traffic_manager_port,
+                )
+            )
+
+            if (
+                actor.args is not None
+                and "physics" in actor.args
+                and actor.args["physics"] == "off"
+            ):
+                command.then(ApplyTransform(FutureActor, _spawn_point)).then(
+                    PhysicsCommand(FutureActor, False)
+                )
+            elif actor.category == "misc":
                 command.then(PhysicsCommand(FutureActor, True))
-            if actor.args is not None and 'lights' in actor.args and actor.args['lights'] == "on":
-                command.then(SetVehicleLightState(FutureActor, carla.VehicleLightState.All))
+            if (
+                actor.args is not None
+                and "lights" in actor.args
+                and actor.args["lights"] == "on"
+            ):
+                command.then(
+                    SetVehicleLightState(FutureActor, carla.VehicleLightState.All)
+                )
 
             batch.append(command)
 
@@ -815,9 +927,16 @@ def request_new_actors(actor_list, attribute_filter=None, tick=True):
         return actors
 
     @staticmethod
-    def request_new_batch_actors(model, amount, spawn_points, autopilot=False,
-                                 random_location=False, rolename='scenario',
-                                 attribute_filter=None, tick=True):
+    def request_new_batch_actors(
+        model,
+        amount,
+        spawn_points,
+        autopilot=False,
+        random_location=False,
+        rolename="scenario",
+        attribute_filter=None,
+        tick=True,
+    ):
         """
         Simplified version of "request_new_actors". This method also create several actors in batch.
 
@@ -828,9 +947,9 @@ def request_new_batch_actors(model, amount, spawn_points, autopilot=False,
         while others are randomized (color)
         """
 
-        SpawnActor = carla.command.SpawnActor      # pylint: disable=invalid-name
+        SpawnActor = carla.command.SpawnActor  # pylint: disable=invalid-name
         SetAutopilot = carla.command.SetAutopilot  # pylint: disable=invalid-name
-        FutureActor = carla.command.FutureActor    # pylint: disable=invalid-name
+        FutureActor = carla.command.FutureActor  # pylint: disable=invalid-name
 
         CarlaDataProvider.generate_spawn_points()
 
@@ -838,25 +957,44 @@ def request_new_batch_actors(model, amount, spawn_points, autopilot=False,
 
         for i in range(amount):
             # Get vehicle by model
-            blueprint = CarlaDataProvider.create_blueprint(model, rolename, attribute_filter=attribute_filter)
+            blueprint = CarlaDataProvider.create_blueprint(
+                model, rolename, attribute_filter=attribute_filter
+            )
 
             if random_location:
-                if CarlaDataProvider._spawn_index >= len(CarlaDataProvider._spawn_points):
-                    print("No more spawn points to use. Spawned {} actors out of {}".format(i + 1, amount))
+                if CarlaDataProvider._spawn_index >= len(
+                    CarlaDataProvider._spawn_points
+                ):
+                    print(
+                        "No more spawn points to use. Spawned {} actors out of {}".format(
+                            i + 1, amount
+                        )
+                    )
                     break
                 else:
-                    spawn_point = CarlaDataProvider._spawn_points[CarlaDataProvider._spawn_index]  # pylint: disable=unsubscriptable-object
+                    spawn_point = CarlaDataProvider._spawn_points[
+                        CarlaDataProvider._spawn_index
+                    ]  # pylint: disable=unsubscriptable-object
                     CarlaDataProvider._spawn_index += 1
             else:
                 try:
                     spawn_point = spawn_points[i]
                 except IndexError:
-                    print("The amount of spawn points is lower than the amount of vehicles spawned")
+                    print(
+                        "The amount of spawn points is lower than the amount of vehicles spawned"
+                    )
                     break
 
             if spawn_point:
-                batch.append(SpawnActor(blueprint, spawn_point).then(
-                    SetAutopilot(FutureActor, autopilot, CarlaDataProvider._traffic_manager_port)))
+                batch.append(
+                    SpawnActor(blueprint, spawn_point).then(
+                        SetAutopilot(
+                            FutureActor,
+                            autopilot,
+                            CarlaDataProvider._traffic_manager_port,
+                        )
+                    )
+                )
 
         actors = CarlaDataProvider.handle_actor_batch(batch, tick)
         for actor in actors:
@@ -892,7 +1030,10 @@ def get_hero_actor():
         Get the actor object of the hero actor if it exists, returns none otherwise.
         """
         for actor_id in CarlaDataProvider._carla_actor_pool:
-            if CarlaDataProvider._carla_actor_pool[actor_id].attributes['role_name'] == 'hero':
+            if (
+                CarlaDataProvider._carla_actor_pool[actor_id].attributes["role_name"]
+                == "hero"
+            ):
                 return CarlaDataProvider._carla_actor_pool[actor_id]
         return None
 
@@ -910,9 +1051,11 @@ def get_actor_by_id(actor_id):
 
     @staticmethod
     def get_actor_by_name(role_name: str):
-
         for actor_id in CarlaDataProvider._carla_actor_pool:
-            if CarlaDataProvider._carla_actor_pool[actor_id].attributes['role_name'] == role_name:
+            if (
+                CarlaDataProvider._carla_actor_pool[actor_id].attributes["role_name"]
+                == role_name
+            ):
                 return CarlaDataProvider._carla_actor_pool[actor_id]
         print(f"Non-existing actor name {role_name}")
         return None
@@ -936,12 +1079,19 @@ def remove_actors_in_surrounding(location, distance):
         provided location
         """
         for actor_id in CarlaDataProvider._carla_actor_pool.copy():
-            if CarlaDataProvider._carla_actor_pool[actor_id].get_location().distance(location) < distance:
+            if (
+                CarlaDataProvider._carla_actor_pool[actor_id]
+                .get_location()
+                .distance(location)
+                < distance
+            ):
                 CarlaDataProvider._carla_actor_pool[actor_id].destroy()
                 CarlaDataProvider._carla_actor_pool.pop(actor_id)
 
         # Remove all keys with None values
-        CarlaDataProvider._carla_actor_pool = dict({k: v for k, v in CarlaDataProvider._carla_actor_pool.items() if v})
+        CarlaDataProvider._carla_actor_pool = dict(
+            {k: v for k, v in CarlaDataProvider._carla_actor_pool.items() if v}
+        )
 
     @staticmethod
     def get_traffic_manager_port():
@@ -962,7 +1112,7 @@ def cleanup():
         """
         Cleanup and remove all entries from all dictionaries
         """
-        DestroyActor = carla.command.DestroyActor       # pylint: disable=invalid-name
+        DestroyActor = carla.command.DestroyActor  # pylint: disable=invalid-name
         batch = []
 
         for actor_id in CarlaDataProvider._carla_actor_pool.copy():
diff --git a/srunner/scenariomanager/lights_sim.py b/srunner/scenariomanager/lights_sim.py
index 316def2..18efbf6 100644
--- a/srunner/scenariomanager/lights_sim.py
+++ b/srunner/scenariomanager/lights_sim.py
@@ -18,11 +18,11 @@
 
 
 class RouteLightsBehavior(py_trees.behaviour.Behaviour):
-
     """
     Behavior responsible for turning the street lights on and off depending on the weather conditions.
     Only those around the ego vehicle will be turned on, regardless of weather conditions
     """
+
     SUN_ALTITUDE_THRESHOLD_1 = 15
     SUN_ALTITUDE_THRESHOLD_2 = 165
 
@@ -33,7 +33,9 @@ class RouteLightsBehavior(py_trees.behaviour.Behaviour):
     # In cases where more than one weather conditition is active, decrease the thresholds
     COMBINED_THRESHOLD = 10
 
-    def __init__(self, ego_vehicle, radius=50, radius_increase=15, name="LightsBehavior"):
+    def __init__(
+        self, ego_vehicle, radius=50, radius_increase=15, name="LightsBehavior"
+    ):
         """
         Setup parameters
         """
@@ -44,7 +46,9 @@ def __init__(self, ego_vehicle, radius=50, radius_increase=15, name="LightsBehav
         self._world = CarlaDataProvider.get_world()
         self._light_manager = self._world.get_lightmanager()
         self._light_manager.set_day_night_cycle(False)
-        self._vehicle_lights = carla.VehicleLightState.Position | carla.VehicleLightState.LowBeam
+        self._vehicle_lights = (
+            carla.VehicleLightState.Position | carla.VehicleLightState.LowBeam
+        )
 
         self._prev_night_mode = False
 
@@ -70,7 +74,9 @@ def update(self):
     def _get_night_mode(self, weather):
         """Check wheather or not the street lights need to be turned on"""
         altitude_dist = weather.sun_altitude_angle - self.SUN_ALTITUDE_THRESHOLD_1
-        altitude_dist = min(altitude_dist, self.SUN_ALTITUDE_THRESHOLD_2 - weather.sun_altitude_angle)
+        altitude_dist = min(
+            altitude_dist, self.SUN_ALTITUDE_THRESHOLD_2 - weather.sun_altitude_angle
+        )
         cloudiness_dist = self.CLOUDINESS_THRESHOLD - weather.cloudiness
         fog_density_dist = self.FOG_THRESHOLD - weather.fog_density
 
@@ -110,8 +116,10 @@ def _turn_close_lights_on(self, location):
         self._light_manager.turn_off(off_lights)
 
         # Vehicles
-        all_vehicles = CarlaDataProvider.get_all_actors().filter('*vehicle.*')
-        scenario_vehicles = [v for v in all_vehicles if v.attributes['role_name'] == 'scenario']
+        all_vehicles = CarlaDataProvider.get_all_actors().filter("*vehicle.*")
+        scenario_vehicles = [
+            v for v in all_vehicles if v.attributes["role_name"] == "scenario"
+        ]
 
         for vehicle in scenario_vehicles:
             if vehicle.get_location().distance(location) > radius:
@@ -135,8 +143,10 @@ def _turn_all_lights_off(self):
         self._light_manager.turn_off(off_lights)
 
         # Vehicles
-        all_vehicles = CarlaDataProvider.get_all_actors().filter('*vehicle.*')
-        scenario_vehicles = [v for v in all_vehicles if v.attributes['role_name'] == 'scenario']
+        all_vehicles = CarlaDataProvider.get_all_actors().filter("*vehicle.*")
+        scenario_vehicles = [
+            v for v in all_vehicles if v.attributes["role_name"] == "scenario"
+        ]
 
         for vehicle in scenario_vehicles:
             lights = vehicle.get_light_state()
@@ -150,4 +160,4 @@ def _turn_all_lights_off(self):
 
     def terminate(self, new_status):
         self._light_manager.set_day_night_cycle(True)
-        return super().terminate(new_status)
\ No newline at end of file
+        return super().terminate(new_status)
diff --git a/srunner/scenariomanager/result_writer.py b/srunner/scenariomanager/result_writer.py
index 7f358f7..5af5648 100644
--- a/srunner/scenariomanager/result_writer.py
+++ b/srunner/scenariomanager/result_writer.py
@@ -18,13 +18,14 @@
 
 
 class ResultOutputProvider(object):
-
     """
     This module contains the _result gatherer and write for CARLA scenarios.
     It shall be used from the ScenarioManager only.
     """
 
-    def __init__(self, data, result, stdout=True, filename=None, junitfile=None, jsonfile=None):
+    def __init__(
+        self, data, result, stdout=True, filename=None, junitfile=None, jsonfile=None
+    ):
         """
         Setup all parameters
         - _data contains all scenario-related information
@@ -41,10 +42,12 @@ def __init__(self, data, result, stdout=True, filename=None, junitfile=None, jso
         self._junit = junitfile
         self._json = jsonfile
 
-        self._start_time = time.strftime('%Y-%m-%d %H:%M:%S',
-                                         time.localtime(self._data.start_system_time))
-        self._end_time = time.strftime('%Y-%m-%d %H:%M:%S',
-                                       time.localtime(self._data.end_system_time))
+        self._start_time = time.strftime(
+            "%Y-%m-%d %H:%M:%S", time.localtime(self._data.start_system_time)
+        )
+        self._end_time = time.strftime(
+            "%Y-%m-%d %H:%M:%S", time.localtime(self._data.end_system_time)
+        )
 
     def write(self):
         """
@@ -57,7 +60,7 @@ def write(self):
 
         output = self.create_output_text()
         if self._filename is not None:
-            with open(self._filename, 'w', encoding='utf-8') as fd:
+            with open(self._filename, "w", encoding="utf-8") as fd:
                 fd.write(output)
         if self._stdout:
             print(output)
@@ -68,7 +71,8 @@ def create_output_text(self):
         """
         output = "\n"
         output += " ======= Results of Scenario: {} ---- {} =======\n".format(
-            self._data.scenario_tree.name, self._result)
+            self._data.scenario_tree.name, self._result
+        )
         end_line_length = len(output) - 3
         output += "\n"
 
@@ -88,7 +92,9 @@ def create_output_text(self):
 
         system_time = round(self._data.scenario_duration_system, 2)
         game_time = round(self._data.scenario_duration_game, 2)
-        ratio = round(self._data.scenario_duration_game / self._data.scenario_duration_system, 3)
+        ratio = round(
+            self._data.scenario_duration_game / self._data.scenario_duration_system, 3
+        )
 
         list_statistics = [["Start Time", "{}".format(self._start_time)]]
         list_statistics.extend([["End Time", "{}".format(self._end_time)]])
@@ -96,12 +102,12 @@ def create_output_text(self):
         list_statistics.extend([["Game Time", "{}s".format(game_time)]])
         list_statistics.extend([["Ratio (Game / System)", "{}".format(ratio)]])
 
-        output += tabulate(list_statistics, tablefmt='fancy_grid')
+        output += tabulate(list_statistics, tablefmt="fancy_grid")
         output += "\n\n"
 
         # Criteria part
         output += " > Criteria Information\n"
-        header = ['Actor', 'Criterion', 'Result', 'Actual Value', 'Success Value']
+        header = ["Actor", "Criterion", "Result", "Actual Value", "Success Value"]
         list_statistics = [header]
 
         for criterion in self._data.scenario.get_criteria():
@@ -113,22 +119,37 @@ def create_output_text(self):
 
             actor = "{} (id={})".format(criterion.actor.type_id[8:], criterion.actor.id)
 
-            list_statistics.extend([[
-                actor, name, criterion.test_status, criterion.actual_value, criterion.success_value]])
+            list_statistics.extend(
+                [
+                    [
+                        actor,
+                        name,
+                        criterion.test_status,
+                        criterion.actual_value,
+                        criterion.success_value,
+                    ]
+                ]
+            )
 
         # Timeout
         actor = ""
         criteria = "Timeout (Req.)"
-        result = "SUCCESS" if self._data.scenario_duration_game < self._data.scenario.timeout else "FAILURE"
+        result = (
+            "SUCCESS"
+            if self._data.scenario_duration_game < self._data.scenario.timeout
+            else "FAILURE"
+        )
         actual_value = round(self._data.scenario_duration_game, 2)
         expected_value = round(self._data.scenario.timeout, 2)
 
-        list_statistics.extend([[actor, criteria, result, actual_value, expected_value]])
+        list_statistics.extend(
+            [[actor, criteria, result, actual_value, expected_value]]
+        )
 
         # Global and final output message
-        list_statistics.extend([['', 'GLOBAL RESULT', self._result, '', '']])
+        list_statistics.extend([["", "GLOBAL RESULT", self._result, "", ""]])
 
-        output += tabulate(list_statistics, tablefmt='fancy_grid')
+        output += tabulate(list_statistics, tablefmt="fancy_grid")
         output += "\n"
         output += " " + "=" * end_line_length + "\n"
 
@@ -181,7 +202,7 @@ def result_dict(name, actor, optional, expected, actual, success):
                     criterion.optional,
                     criterion.success_value,
                     criterion.actual_value,
-                    criterion.test_status in ["SUCCESS", "ACCEPTABLE"]
+                    criterion.test_status in ["SUCCESS", "ACCEPTABLE"],
                 )
             )
 
@@ -197,10 +218,10 @@ def result_dict(name, actor, optional, expected, actual, success):
         result_object = {
             "scenario": self._data.scenario_tree.name,
             "success": self._result in ["SUCCESS", "ACCEPTABLE"],
-            "criteria": json_list
+            "criteria": json_list,
         }
 
-        with open(self._json, "w", encoding='utf-8') as fp:
+        with open(self._json, "w", encoding="utf-8") as fp:
             json.dump(result_object, fp, indent=4)
 
     def _write_to_junit(self):
@@ -219,67 +240,92 @@ def _write_to_junit(self):
         if self._data.scenario_duration_game >= self._data.scenario.timeout:
             failure_count += 1
 
-        with open(self._junit, "w", encoding='utf-8') as junit_file:
-
-            junit_file.write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n")
-
-            test_suites_string = ("<testsuites tests=\"%d\" failures=\"%d\" disabled=\"0\" "
-                                  "errors=\"0\" timestamp=\"%s\" time=\"%5.2f\" "
-                                  "name=\"Simulation\" package=\"Scenarios\">\n" %
-                                  (test_count,
-                                   failure_count,
-                                   self._start_time,
-                                   self._data.scenario_duration_system))
+        with open(self._junit, "w", encoding="utf-8") as junit_file:
+            junit_file.write('<?xml version="1.0" encoding="UTF-8"?>\n')
+
+            test_suites_string = (
+                '<testsuites tests="%d" failures="%d" disabled="0" '
+                'errors="0" timestamp="%s" time="%5.2f" '
+                'name="Simulation" package="Scenarios">\n'
+                % (
+                    test_count,
+                    failure_count,
+                    self._start_time,
+                    self._data.scenario_duration_system,
+                )
+            )
             junit_file.write(test_suites_string)
 
-            test_suite_string = ("  <testsuite name=\"%s\" tests=\"%d\" failures=\"%d\" "
-                                 "disabled=\"0\" errors=\"0\" time=\"%5.2f\">\n" %
-                                 (self._data.scenario_tree.name,
-                                  test_count,
-                                  failure_count,
-                                  self._data.scenario_duration_system))
+            test_suite_string = (
+                '  <testsuite name="%s" tests="%d" failures="%d" '
+                'disabled="0" errors="0" time="%5.2f">\n'
+                % (
+                    self._data.scenario_tree.name,
+                    test_count,
+                    failure_count,
+                    self._data.scenario_duration_system,
+                )
+            )
             junit_file.write(test_suite_string)
 
             for criterion in self._data.scenario.get_criteria():
-                testcase_name = criterion.name + "_" + \
-                    criterion.actor.type_id[8:] + "_" + str(criterion.actor.id)
-                result_string = ("    <testcase name=\"{}\" status=\"run\" "
-                                 "time=\"0\" classname=\"Scenarios.{}\">\n".format(
-                                     testcase_name, self._data.scenario_tree.name))
+                testcase_name = (
+                    criterion.name
+                    + "_"
+                    + criterion.actor.type_id[8:]
+                    + "_"
+                    + str(criterion.actor.id)
+                )
+                result_string = (
+                    '    <testcase name="{}" status="run" '
+                    'time="0" classname="Scenarios.{}">\n'.format(
+                        testcase_name, self._data.scenario_tree.name
+                    )
+                )
                 if criterion.test_status != "SUCCESS":
-                    result_string += "      <failure message=\"{}\"  type=\"\"><![CDATA[\n".format(
-                        criterion.name)
-                    result_string += "  Actual:   {}\n".format(
-                        criterion.actual_value)
-                    result_string += "  Expected: {}\n".format(
-                        criterion.success_value)
+                    result_string += (
+                        '      <failure message="{}"  type=""><![CDATA[\n'.format(
+                            criterion.name
+                        )
+                    )
+                    result_string += "  Actual:   {}\n".format(criterion.actual_value)
+                    result_string += "  Expected: {}\n".format(criterion.success_value)
                     result_string += "\n"
                     result_string += "  Exact Value: {} = {}]]></failure>\n".format(
-                        criterion.name, criterion.actual_value)
+                        criterion.name, criterion.actual_value
+                    )
                 else:
                     result_string += "  Exact Value: {} = {}\n".format(
-                        criterion.name, criterion.actual_value)
+                        criterion.name, criterion.actual_value
+                    )
                 result_string += "    </testcase>\n"
                 junit_file.write(result_string)
 
             # Handle timeout separately
-            result_string = ("    <testcase name=\"Duration\" status=\"run\" time=\"{}\" "
-                             "classname=\"Scenarios.{}\">\n".format(
-                                 self._data.scenario_duration_system,
-                                 self._data.scenario_tree.name))
+            result_string = (
+                '    <testcase name="Duration" status="run" time="{}" '
+                'classname="Scenarios.{}">\n'.format(
+                    self._data.scenario_duration_system, self._data.scenario_tree.name
+                )
+            )
             if self._data.scenario_duration_game >= self._data.scenario.timeout:
-                result_string += "      <failure message=\"{}\"  type=\"\"><![CDATA[\n".format(
-                    "Duration")
+                result_string += (
+                    '      <failure message="{}"  type=""><![CDATA[\n'.format(
+                        "Duration"
+                    )
+                )
                 result_string += "  Actual:   {}\n".format(
-                    self._data.scenario_duration_game)
-                result_string += "  Expected: {}\n".format(
-                    self._data.scenario.timeout)
+                    self._data.scenario_duration_game
+                )
+                result_string += "  Expected: {}\n".format(self._data.scenario.timeout)
                 result_string += "\n"
                 result_string += "  Exact Value: {} = {}]]></failure>\n".format(
-                    "Duration", self._data.scenario_duration_game)
+                    "Duration", self._data.scenario_duration_game
+                )
             else:
                 result_string += "  Exact Value: {} = {}\n".format(
-                    "Duration", self._data.scenario_duration_game)
+                    "Duration", self._data.scenario_duration_game
+                )
             result_string += "    </testcase>\n"
             junit_file.write(result_string)
 
diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
index e4d387c..1d8aae1 100644
--- a/srunner/scenariomanager/scenario_manager.py
+++ b/srunner/scenariomanager/scenario_manager.py
@@ -25,8 +25,6 @@
 from srunner.scenariomanager.watchdog import Watchdog
 from srunner.tools.metrics_collector import MetricsCollector
 
-from srunner.tools.CARLA_manager import CARLAManager
-
 
 class ScenarioManager(object):
     """
@@ -185,7 +183,7 @@ def _tick_scenario(self, timestamp):
                 CarlaDataProvider.on_carla_tick()
 
             if self._agent is not None:
-                self._agent()  # pylint: disable=not-callable
+                self._agent(timestamp)  # pylint: disable=not-callable
 
             # Tick scenario
             _scenario_tick_start = time.perf_counter_ns() / 1e6
@@ -203,11 +201,13 @@ def _tick_scenario(self, timestamp):
 
             end_tick = time.perf_counter_ns()
 
-            tick_diff = (start_tick - end_tick) / 1e9
-            if (start_tick - end_tick) < CARLAManager.FIXED_DELTA_SECONDS:
-                time.sleep(CARLAManager.FIXED_DELTA_SECONDS - tick_diff)
             _tick_carla_start = time.perf_counter_ns() / 1e6
             CarlaDataProvider.get_world().tick()
+
+            # Yield to CARLA internal threads so sensor callbacks for
+            # the just-ticked frame deliver before the next snapshot read.
+            time.sleep(0)
+
             MetricsCollector.update_key(
                 "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
             )
diff --git a/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py b/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
index 85970a7..dd2e0fa 100644
--- a/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
+++ b/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
@@ -80,7 +80,7 @@ def get_actor_control(actor):
     Method to return the type of control to the actor.
     """
     control = actor.get_control()
-    actor_type = actor.type_id.split('.')[0]
+    actor_type = actor.type_id.split(".")[0]
     if not isinstance(actor, carla.Walker):
         control.steering = 0
     else:
@@ -90,7 +90,6 @@ def get_actor_control(actor):
 
 
 class AtomicBehavior(py_trees.behaviour.Behaviour):
-
     """
     Base class for all atomic behaviors used to setup a scenario
 
@@ -123,10 +122,15 @@ def initialise(self):
         """
         if self._actor is not None:
             try:
-                check_attr = operator.attrgetter("running_WF_actor_{}".format(self._actor.id))
+                check_attr = operator.attrgetter(
+                    "running_WF_actor_{}".format(self._actor.id)
+                )
                 terminate_wf = copy.copy(check_attr(py_trees.blackboard.Blackboard()))
                 py_trees.blackboard.Blackboard().set(
-                    "terminate_WF_actor_{}".format(self._actor.id), terminate_wf, overwrite=True)
+                    "terminate_WF_actor_{}".format(self._actor.id),
+                    terminate_wf,
+                    overwrite=True,
+                )
             except AttributeError:
                 # It is ok to continue, if the Blackboard variable does not exist
                 pass
@@ -136,11 +140,13 @@ def terminate(self, new_status):
         """
         Default terminate. Can be extended in derived class
         """
-        self.logger.debug("%s.terminate()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.terminate()[%s->%s]"
+            % (self.__class__.__name__, self.status, new_status)
+        )
 
 
 class RunScript(AtomicBehavior):
-
     """
     This is an atomic behavior to start execution of an additional script.
 
@@ -173,7 +179,7 @@ def update(self):
         Start script
         """
         path = None
-        script_components = self._script.split(' ')
+        script_components = self._script.split(" ")
         if len(script_components) > 1:
             path = script_components[1]
 
@@ -186,7 +192,9 @@ def update(self):
             subprocess.Popen(self._script, shell=True, cwd=self._base_path)  # pylint: disable=consider-using-with
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
@@ -212,9 +220,9 @@ def update(self):
         """
         old_value = CarlaDataProvider.get_osc_global_param_value(self._parameter_ref)
 
-        if self._rule == '+':
+        if self._rule == "+":
             new_value = self._value + float(old_value)
-        elif self._rule == '*':
+        elif self._rule == "*":
             new_value = self._value * float(old_value)
         else:
             new_value = self._value
@@ -222,12 +230,13 @@ def update(self):
         CarlaDataProvider.update_osc_global_params({self._parameter_ref: new_value})
         new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class ChangeWeather(AtomicBehavior):
-
     """
     Atomic to write a new weather configuration into the blackboard.
     Used in combination with OSCWeatherBehavior() to have a continuous weather simulation.
@@ -257,12 +266,13 @@ def update(self):
         returns:
             py_trees.common.Status.SUCCESS
         """
-        py_trees.blackboard.Blackboard().set("CarlaWeather", self._weather, overwrite=True)
+        py_trees.blackboard.Blackboard().set(
+            "CarlaWeather", self._weather, overwrite=True
+        )
         return py_trees.common.Status.SUCCESS
 
 
 class ChangeRoadFriction(AtomicBehavior):
-
     """
     Atomic to update the road friction in CARLA.
 
@@ -292,15 +302,21 @@ def update(self):
             py_trees.common.Status.SUCCESS
         """
 
-        for actor in CarlaDataProvider.get_all_actors().filter('static.trigger.friction'):
+        for actor in CarlaDataProvider.get_all_actors().filter(
+            "static.trigger.friction"
+        ):
             actor.destroy()
 
-        friction_bp = CarlaDataProvider.get_world().get_blueprint_library().find('static.trigger.friction')
+        friction_bp = (
+            CarlaDataProvider.get_world()
+            .get_blueprint_library()
+            .find("static.trigger.friction")
+        )
         extent = carla.Location(1000000.0, 1000000.0, 1000000.0)
-        friction_bp.set_attribute('friction', str(self._friction))
-        friction_bp.set_attribute('extent_x', str(extent.x))
-        friction_bp.set_attribute('extent_y', str(extent.y))
-        friction_bp.set_attribute('extent_z', str(extent.z))
+        friction_bp.set_attribute("friction", str(self._friction))
+        friction_bp.set_attribute("extent_x", str(extent.x))
+        friction_bp.set_attribute("extent_y", str(extent.y))
+        friction_bp.set_attribute("extent_z", str(extent.z))
 
         # Spawn Trigger Friction
         transform = carla.Transform()
@@ -311,7 +327,6 @@ def update(self):
 
 
 class ChangeActorControl(AtomicBehavior):
-
     """
     Atomic to change the longitudinal/lateral control logic for an actor.
     The (actor, controller) pair is stored inside the Blackboard.
@@ -331,14 +346,25 @@ class ChangeActorControl(AtomicBehavior):
         _actor_control (ActorControl): Instance of the actor control.
     """
 
-    def __init__(self, actor, control_py_module, args, scenario_file_path=None, name="ChangeActorControl"):
+    def __init__(
+        self,
+        actor,
+        control_py_module,
+        args,
+        scenario_file_path=None,
+        name="ChangeActorControl",
+    ):
         """
         Setup actor controller.
         """
         super(ChangeActorControl, self).__init__(name, actor)
 
-        self._actor_control = ActorControl(actor, control_py_module=control_py_module,
-                                           args=args, scenario_file_path=scenario_file_path)
+        self._actor_control = ActorControl(
+            actor,
+            control_py_module=control_py_module,
+            args=args,
+            scenario_file_path=scenario_file_path,
+        )
 
     def update(self):
         """
@@ -362,13 +388,14 @@ def update(self):
                 actor_dict[self._actor.id].reset()
 
         actor_dict[self._actor.id] = self._actor_control
-        py_trees.blackboard.Blackboard().set("ActorsWithController", actor_dict, overwrite=True)
+        py_trees.blackboard.Blackboard().set(
+            "ActorsWithController", actor_dict, overwrite=True
+        )
 
         return py_trees.common.Status.SUCCESS
 
 
 class UpdateAllActorControls(AtomicBehavior):
-
     """
     Atomic to update (run one control loop step) all actor controls.
 
@@ -408,7 +435,6 @@ def update(self):
 
 
 class ChangeActorTargetSpeed(AtomicBehavior):
-
     """
     Atomic to change the target speed for an actor controller.
 
@@ -458,9 +484,19 @@ class ChangeActorTargetSpeed(AtomicBehavior):
             Defaults to False.
     """
 
-    def __init__(self, actor, target_speed, init_speed=False,
-                 duration=None, distance=None, relative_actor=None,
-                 value=None, value_type=None, continuous=False, name="ChangeActorTargetSpeed"):
+    def __init__(
+        self,
+        actor,
+        target_speed,
+        init_speed=False,
+        duration=None,
+        distance=None,
+        relative_actor=None,
+        value=None,
+        value_type=None,
+        continuous=False,
+        name="ChangeActorTargetSpeed",
+    ):
         """
         Setup parameters
         """
@@ -495,7 +531,7 @@ def initialise(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
 
         self._start_time = GameTime.get_time()
@@ -505,14 +541,16 @@ def initialise(self):
             relative_velocity = CarlaDataProvider.get_velocity(self._relative_actor)
 
             # get target velocity
-            if self._value_type == 'delta':
+            if self._value_type == "delta":
                 self._target_speed = relative_velocity + self._value
-            elif self._value_type == 'factor':
+            elif self._value_type == "factor":
                 self._target_speed = relative_velocity * self._value
             else:
-                print('self._value_type must be delta or factor')
+                print("self._value_type must be delta or factor")
 
-        actor_dict[self._actor.id].update_target_speed(self._target_speed, start_time=self._start_time)
+        actor_dict[self._actor.id].update_target_speed(
+            self._target_speed, start_time=self._start_time
+        )
 
         if self._init_speed:
             actor_dict[self._actor.id].set_init_speed()
@@ -535,10 +573,13 @@ def update(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
-        if actor_dict[self._actor.id].get_last_longitudinal_command() != self._start_time:
+        if (
+            actor_dict[self._actor.id].get_last_longitudinal_command()
+            != self._start_time
+        ):
             return py_trees.common.Status.SUCCESS
 
         new_status = py_trees.common.Status.RUNNING
@@ -547,19 +588,27 @@ def update(self):
             relative_velocity = CarlaDataProvider.get_velocity(self._relative_actor)
 
             # get target velocity
-            if self._value_type == 'delta':
-                actor_dict[self._actor.id].update_target_speed(relative_velocity + self._value)
-            elif self._value_type == 'factor':
-                actor_dict[self._actor.id].update_target_speed(relative_velocity * self._value)
+            if self._value_type == "delta":
+                actor_dict[self._actor.id].update_target_speed(
+                    relative_velocity + self._value
+                )
+            elif self._value_type == "factor":
+                actor_dict[self._actor.id].update_target_speed(
+                    relative_velocity * self._value
+                )
             else:
-                print('self._value_type must be delta or factor')
+                print("self._value_type must be delta or factor")
 
         # check duration and driven_distance
         if not self._continuous:
-            if (self._duration is not None) and (GameTime.get_time() - self._start_time > self._duration):
+            if (self._duration is not None) and (
+                GameTime.get_time() - self._start_time > self._duration
+            ):
                 new_status = py_trees.common.Status.SUCCESS
 
-            driven_distance = CarlaDataProvider.get_location(self._actor).distance(self._start_location)
+            driven_distance = CarlaDataProvider.get_location(self._actor).distance(
+                self._start_location
+            )
             if (self._distance is not None) and (driven_distance > self._distance):
                 new_status = py_trees.common.Status.SUCCESS
 
@@ -570,7 +619,6 @@ def update(self):
 
 
 class SyncArrivalOSC(AtomicBehavior):
-
     """
     Atomic to make two actors arrive at their corresponding places at the same time
 
@@ -592,8 +640,17 @@ class SyncArrivalOSC(AtomicBehavior):
 
     DISTANCE_THRESHOLD = 1
 
-    def __init__(self, actor, master_actor, actor_target, master_target, final_speed,
-                 relative_to_master=False, relative_type='', name="SyncArrivalOSC"):
+    def __init__(
+        self,
+        actor,
+        master_actor,
+        actor_target,
+        master_target,
+        final_speed,
+        relative_to_master=False,
+        relative_type="",
+        name="SyncArrivalOSC",
+    ):
         """
         Setup required parameters
         """
@@ -627,28 +684,33 @@ def initialise(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
 
         self._start_time = GameTime.get_time()
 
         # Get the distance of the actor to its endpoint
         distance = calculate_distance(
-            CarlaDataProvider.get_location(self._actor), self._actor_target.location)
+            CarlaDataProvider.get_location(self._actor), self._actor_target.location
+        )
 
         # Get the time to arrival of the reference to its endpoint
         distance_reference = calculate_distance(
-            CarlaDataProvider.get_location(self._master_actor), self._master_target.location)
+            CarlaDataProvider.get_location(self._master_actor),
+            self._master_target.location,
+        )
 
         velocity_reference = CarlaDataProvider.get_velocity(self._master_actor)
         if velocity_reference > 0:
             time_reference = distance_reference / velocity_reference
         else:
-            time_reference = float('inf')
+            time_reference = float("inf")
 
         # Get the required velocity of the actor
         desired_velocity = distance / time_reference
-        actor_dict[self._actor.id].update_target_speed(desired_velocity, start_time=self._start_time)
+        actor_dict[self._actor.id].update_target_speed(
+            desired_velocity, start_time=self._start_time
+        )
 
     def update(self):
         """
@@ -662,36 +724,46 @@ def update(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
-        if actor_dict[self._actor.id].get_last_longitudinal_command() != self._start_time:
+        if (
+            actor_dict[self._actor.id].get_last_longitudinal_command()
+            != self._start_time
+        ):
             return py_trees.common.Status.SUCCESS
 
         new_status = py_trees.common.Status.RUNNING
 
         # Get the distance of the actor to its endpoint
         distance = calculate_distance(
-            CarlaDataProvider.get_location(self._actor), self._actor_target.location)
+            CarlaDataProvider.get_location(self._actor), self._actor_target.location
+        )
 
         if distance < self.DISTANCE_THRESHOLD:
-            return py_trees.common.Status.SUCCESS  # Behaviour ends when the actor reaches its endpoint
+            return (
+                py_trees.common.Status.SUCCESS
+            )  # Behaviour ends when the actor reaches its endpoint
 
         # Get the time to arrival of the reference to its endpoint
         distance_reference = calculate_distance(
-            CarlaDataProvider.get_location(self._master_actor), self._master_target.location)
+            CarlaDataProvider.get_location(self._master_actor),
+            self._master_target.location,
+        )
 
         velocity_reference = CarlaDataProvider.get_velocity(self._master_actor)
         if velocity_reference > 0:
             time_reference = distance_reference / velocity_reference
         else:
-            time_reference = float('inf')
+            time_reference = float("inf")
 
         # Get the required velocity of the actor
         desired_velocity = distance / time_reference
         actor_dict[self._actor.id].update_target_speed(desired_velocity)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def terminate(self, new_status):
@@ -708,12 +780,11 @@ def terminate(self, new_status):
                 pass
 
             if actor_dict and self._actor.id in actor_dict:
-
                 if self._relative_to_master:
                     master_speed = CarlaDataProvider.get_velocity(self._master_actor)
-                    if self._relative_type == 'delta':
+                    if self._relative_type == "delta":
                         final_speed = master_speed + self._final_speed
-                    elif self._relative_type == 'factor':
+                    elif self._relative_type == "factor":
                         final_speed = master_speed * self._final_speed
                     else:
                         print("'relative_type' must be delta or factor")
@@ -728,7 +799,6 @@ def terminate(self, new_status):
 
 
 class ChangeActorWaypoints(AtomicBehavior):
-
     """
     Atomic to change the waypoints for an actor controller.
 
@@ -782,15 +852,17 @@ def initialise(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
 
         self._start_time = GameTime.get_time()
 
         # Transforming OSC waypoints to Carla waypoints
         carla_route_elements = []
-        for (osc_point, routing_option) in self._waypoints:
-            carla_transforms = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(osc_point)
+        for osc_point, routing_option in self._waypoints:
+            carla_transforms = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
+                osc_point
+            )
             carla_route_elements.append((carla_transforms, routing_option))
 
         # Obtain final route, considering the routing option
@@ -816,23 +888,40 @@ def initialise(self):
                 try:
                     interpolated_trace = grp.trace_route(waypoint, waypoint_next)
                 except networkx.NetworkXNoPath:
-                    print("WARNING: No route from {} to {} - Using direct path instead".format(waypoint, waypoint_next))
+                    print(
+                        "WARNING: No route from {} to {} - Using direct path instead".format(
+                            waypoint, waypoint_next
+                        )
+                    )
                     route.append(carla_route_elements[i][0])
                     continue
                 for wp_tuple in interpolated_trace:
                     # The router sometimes produces points that go backward, or are almost identical
                     # We have to filter these, to avoid problems
-                    if route and wp_tuple[0].transform.location.distance(route[-1].location) > 1.0:
-                        new_heading_vec = wp_tuple[0].transform.location - route[-1].location
+                    if (
+                        route
+                        and wp_tuple[0].transform.location.distance(route[-1].location)
+                        > 1.0
+                    ):
+                        new_heading_vec = (
+                            wp_tuple[0].transform.location - route[-1].location
+                        )
                         new_heading = np.arctan2(new_heading_vec.y, new_heading_vec.x)
                         if len(route) > 1:
                             last_heading_vec = route[-1].location - route[-2].location
                         else:
-                            last_heading_vec = route[-1].location - ego_next_wp.transform.location
-                        last_heading = np.arctan2(last_heading_vec.y, last_heading_vec.x)
+                            last_heading_vec = (
+                                route[-1].location - ego_next_wp.transform.location
+                            )
+                        last_heading = np.arctan2(
+                            last_heading_vec.y, last_heading_vec.x
+                        )
 
                         heading_delta = math.fabs(new_heading - last_heading)
-                        if math.fabs(heading_delta) < 0.5 or math.fabs(heading_delta) > 5.5:
+                        if (
+                            math.fabs(heading_delta) < 0.5
+                            or math.fabs(heading_delta) > 5.5
+                        ):
                             route.append(wp_tuple[0].transform)
                     elif not route:
                         route.append(wp_tuple[0].transform)
@@ -857,7 +946,7 @@ def update(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
         actor = actor_dict[self._actor.id]
@@ -874,20 +963,24 @@ def update(self):
             if current_waypoint_idx >= len(self._times):
                 return py_trees.common.Status.SUCCESS
             remaining_time = self._times[current_waypoint_idx] - current_relative_time
-            self._update_speed(actor, self._waypoints[current_waypoint_idx], remaining_time)
+            self._update_speed(
+                actor, self._waypoints[current_waypoint_idx], remaining_time
+            )
 
         return py_trees.common.Status.RUNNING
 
     def _update_speed(self, actor, target_waypoint, remaining_time):
         target_location = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
-            target_waypoint[0]).location
-        remaining_dist = calculate_distance(CarlaDataProvider.get_location(self._actor), target_location)
+            target_waypoint[0]
+        ).location
+        remaining_dist = calculate_distance(
+            CarlaDataProvider.get_location(self._actor), target_location
+        )
         target_speed = remaining_dist / max(remaining_time, 0.001)
         actor.update_target_speed(target_speed)
 
 
 class ChangeActorWaypointsToReachPosition(ChangeActorWaypoints):
-
     """
     Atomic to change the waypoints for an actor controller in order to reach
     a given position.
@@ -947,7 +1040,6 @@ def initialise(self):
 
 
 class ChangeActorLateralMotion(AtomicBehavior):
-
     """
     Atomic to change the waypoints for an actor controller.
 
@@ -988,8 +1080,15 @@ class ChangeActorLateralMotion(AtomicBehavior):
             Defaults to None.
     """
 
-    def __init__(self, actor, direction='left', distance_lane_change=25, distance_other_lane=100,
-                 lane_changes=1, name="ChangeActorLateralMotion"):
+    def __init__(
+        self,
+        actor,
+        direction="left",
+        distance_lane_change=25,
+        distance_other_lane=100,
+        lane_changes=1,
+        name="ChangeActorLateralMotion",
+    ):
         """
         Setup parameters
         """
@@ -1025,24 +1124,34 @@ def initialise(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
 
         self._start_time = GameTime.get_time()
 
         # get start position
-        position_actor = CarlaDataProvider.get_map().get_waypoint(CarlaDataProvider.get_location(self._actor))
+        position_actor = CarlaDataProvider.get_map().get_waypoint(
+            CarlaDataProvider.get_location(self._actor)
+        )
 
         # calculate plan with scenario_helper function
         self._plan, self._target_lane_id = generate_target_waypoint_list_multilane(
-            position_actor, self._direction, self._distance_same_lane,
-            self._distance_other_lane, self._distance_lane_change, check=False, lane_changes=self._lane_changes)
+            position_actor,
+            self._direction,
+            self._distance_same_lane,
+            self._distance_other_lane,
+            self._distance_lane_change,
+            check=False,
+            lane_changes=self._lane_changes,
+        )
 
         if self._plan:
             for elem in self._plan:
                 self._waypoints.append(elem[0].transform)
 
-        actor_dict[self._actor.id].update_waypoints(self._waypoints, start_time=self._start_time)
+        actor_dict[self._actor.id].update_waypoints(
+            self._waypoints, start_time=self._start_time
+        )
 
         super(ChangeActorLateralMotion, self).initialise()
 
@@ -1063,7 +1172,7 @@ def update(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
         if not self._plan:
@@ -1075,12 +1184,16 @@ def update(self):
 
         new_status = py_trees.common.Status.RUNNING
 
-        current_position_actor = CarlaDataProvider.get_map().get_waypoint(self._actor.get_location())
+        current_position_actor = CarlaDataProvider.get_map().get_waypoint(
+            self._actor.get_location()
+        )
         current_lane_id = current_position_actor.lane_id
 
         if current_lane_id == self._target_lane_id:
             # driving on new lane
-            distance = current_position_actor.transform.location.distance(self._pos_before_lane_change)
+            distance = current_position_actor.transform.location.distance(
+                self._pos_before_lane_change
+            )
 
             if distance > self._distance_other_lane:
                 # long enough distance on new lane --> SUCCESS
@@ -1096,7 +1209,9 @@ def update(self):
                     else:
                         break
 
-                actor_dict[self._actor.id].update_waypoints(new_waypoints, start_time=self._start_time)
+                actor_dict[self._actor.id].update_waypoints(
+                    new_waypoints, start_time=self._start_time
+                )
 
         else:
             self._pos_before_lane_change = current_position_actor.transform.location
@@ -1105,7 +1220,6 @@ def update(self):
 
 
 class ChangeActorLaneOffset(AtomicBehavior):
-
     """
     OpenSCENARIO atomic.
     Atomic to change the offset of the controller.
@@ -1139,7 +1253,14 @@ class ChangeActorLaneOffset(AtomicBehavior):
 
     OFFSET_THRESHOLD = 0.1
 
-    def __init__(self, actor, offset, relative_actor=None, continuous=True, name="ChangeActorWaypoints"):
+    def __init__(
+        self,
+        actor,
+        offset,
+        relative_actor=None,
+        continuous=True,
+        name="ChangeActorWaypoints",
+    ):
         """
         Setup parameters
         """
@@ -1171,12 +1292,14 @@ def initialise(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
 
         self._start_time = GameTime.get_time()
 
-        actor_dict[self._actor.id].update_offset(self._offset, start_time=self._start_time)
+        actor_dict[self._actor.id].update_offset(
+            self._offset, start_time=self._start_time
+        )
 
         super(ChangeActorLaneOffset, self).initialise()
 
@@ -1196,10 +1319,13 @@ def update(self):
         except AttributeError:
             pass
 
-        if not actor_dict or not self._actor.id in actor_dict:
+        if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
-        if actor_dict[self._actor.id].get_last_lane_offset_command() != self._start_time:
+        if (
+            actor_dict[self._actor.id].get_last_lane_offset_command()
+            != self._start_time
+        ):
             # Differentiate between lane offset and other lateral commands
             self._overwritten = True
             return py_trees.common.Status.SUCCESS
@@ -1310,8 +1436,16 @@ class ChangeLateralDistance(AtomicBehavior):
 
     OFFSET_THRESHOLD = 0.3
 
-    def __init__(self, actor, offset, relative_actor=None, freespace=False,
-                 continuous=True, name="ChangeActorWaypoints", event_name=None):
+    def __init__(
+        self,
+        actor,
+        offset,
+        relative_actor=None,
+        freespace=False,
+        continuous=True,
+        name="ChangeActorWaypoints",
+        event_name=None,
+    ):
         """
         Setup parameters
         """
@@ -1327,9 +1461,15 @@ def __init__(self, actor, offset, relative_actor=None, freespace=False,
         self._map = CarlaDataProvider.get_map()
         if freespace:
             if self._offset > 0:
-                self._offset += self._relative_actor.bounding_box.extent.y + self._actor.bounding_box.extent.y
+                self._offset += (
+                    self._relative_actor.bounding_box.extent.y
+                    + self._actor.bounding_box.extent.y
+                )
             else:
-                self._offset -= self._relative_actor.bounding_box.extent.y + self._actor.bounding_box.extent.y
+                self._offset -= (
+                    self._relative_actor.bounding_box.extent.y
+                    + self._actor.bounding_box.extent.y
+                )
         self._actor_name = actor.attributes.get("role_name")
         self._event_name = event_name
         if relative_actor:
@@ -1357,7 +1497,9 @@ def initialise(self):
 
         self._start_time = GameTime.get_time()
 
-        actor_dict[self._actor.id].update_offset(self._offset, start_time=self._start_time)
+        actor_dict[self._actor.id].update_offset(
+            self._offset, start_time=self._start_time
+        )
 
         super(ChangeLateralDistance, self).initialise()
 
@@ -1380,7 +1522,10 @@ def update(self):
         if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
-        if actor_dict[self._actor.id].get_last_lane_offset_command() != self._start_time:
+        if (
+            actor_dict[self._actor.id].get_last_lane_offset_command()
+            != self._start_time
+        ):
             # Differentiate between lane offset and other lateral commands
             self._overwritten = True
             # last_lane_offset_command_time = actor_dict[self._actor.id].get_last_lane_offset_command()
@@ -1458,7 +1603,6 @@ def terminate(self, new_status):
 
 
 class ActorTransformSetterToOSCPosition(AtomicBehavior):
-
     """
     OpenSCENARIO atomic
     This class contains an atomic behavior to set the transform of an OpenSCENARIO actor.
@@ -1477,7 +1621,13 @@ class ActorTransformSetterToOSCPosition(AtomicBehavior):
     Therefore: calculate_distance(actor, transform) < 1 meter
     """
 
-    def __init__(self, actor, osc_position, physics=True, name="ActorTransformSetterToOSCPosition"):
+    def __init__(
+        self,
+        actor,
+        osc_position,
+        physics=True,
+        name="ActorTransformSetterToOSCPosition",
+    ):
         """
         Setup parameters
         """
@@ -1487,7 +1637,6 @@ def __init__(self, actor, osc_position, physics=True, name="ActorTransformSetter
         self._osc_transform = None
 
     def initialise(self):
-
         super(ActorTransformSetterToOSCPosition, self).initialise()
 
         if self._actor.is_alive:
@@ -1502,13 +1651,17 @@ def update(self):
 
         # calculate transform with method in openscenario_parser.py
         self._osc_transform = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
-            self._osc_position)
+            self._osc_position
+        )
         self._actor.set_transform(self._osc_transform)
 
         if not self._actor.is_alive:
             new_status = py_trees.common.Status.FAILURE
 
-        if calculate_distance(self._actor.get_location(), self._osc_transform.location) < 1.0:
+        if (
+            calculate_distance(self._actor.get_location(), self._osc_transform.location)
+            < 1.0
+        ):
             if self._physics:
                 self._actor.set_simulate_physics(enabled=True)
             new_status = py_trees.common.Status.SUCCESS
@@ -1517,7 +1670,6 @@ def update(self):
 
 
 class AccelerateToVelocity(AtomicBehavior):
-
     """
     This class contains an atomic acceleration behavior. The controlled
     traffic participant will accelerate with _throttle_value_ until reaching
@@ -1544,9 +1696,11 @@ def __init__(self, actor, throttle_value, target_velocity, name="Acceleration"):
 
     def initialise(self):
         # In case of walkers, we have to extract the current heading
-        if self._type == 'walker':
+        if self._type == "walker":
             self._control.speed = self._target_velocity
-            self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector()
+            self._control.direction = CarlaDataProvider.get_transform(
+                self._actor
+            ).get_forward_vector()
 
         super(AccelerateToVelocity, self).initialise()
 
@@ -1556,7 +1710,7 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        if self._type == 'vehicle':
+        if self._type == "vehicle":
             if CarlaDataProvider.get_velocity(self._actor) < self._target_velocity:
                 self._control.throttle = self._throttle_value
             else:
@@ -1564,13 +1718,14 @@ def update(self):
                 self._control.throttle = 0
 
         self._actor.apply_control(self._control)
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class UniformAcceleration(AtomicBehavior):
-
     """
     This class contains an atomic acceleration behavior. The controlled
     traffic participant will accelerate with _throttle_value_ until reaching
@@ -1585,9 +1740,18 @@ class UniformAcceleration(AtomicBehavior):
 
     The behavior will terminate, if the actor's velocity is at least target_velocity
     """
+
     OFFSET_THRESHOLD = 0.1
 
-    def __init__(self, actor, start_velocity, target_velocity, acceleration, start_time, name="Acceleration"):
+    def __init__(
+        self,
+        actor,
+        start_velocity,
+        target_velocity,
+        acceleration,
+        start_time,
+        name="Acceleration",
+    ):
         """
         Setup parameters including acceleration value (via throttle_value),
         start_velocity, target velocity and duration
@@ -1599,14 +1763,18 @@ def __init__(self, actor, start_velocity, target_velocity, acceleration, start_t
         self._acceleration = acceleration
         self._start_time = start_time
         self._target_velocity = target_velocity
-        print(f"actor_type:{self._type}, start_speed:{self._start_velocity}, "
-              f"acceleration:{self._acceleration},target_speed:{self._target_velocity},start_time:{self._start_time}")
+        print(
+            f"actor_type:{self._type}, start_speed:{self._start_velocity}, "
+            f"acceleration:{self._acceleration},target_speed:{self._target_velocity},start_time:{self._start_time}"
+        )
 
     def initialise(self):
         # In case of walkers, we have to extract the current heading
-        if self._type == 'walker':
+        if self._type == "walker":
             self._control.speed = self._start_velocity
-            self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector()
+            self._control.direction = CarlaDataProvider.get_transform(
+                self._actor
+            ).get_forward_vector()
 
         super(UniformAcceleration, self).initialise()
 
@@ -1618,15 +1786,19 @@ def update(self):
 
         time_now = GameTime.get_time()
         time_variation = time_now - self._start_time
-        speed_variation = CarlaDataProvider.get_velocity(self._actor) - self._start_velocity
-        if self._type == 'vehicle':
+        speed_variation = (
+            CarlaDataProvider.get_velocity(self._actor) - self._start_velocity
+        )
+        if self._type == "vehicle":
             curr_speed = CarlaDataProvider.get_velocity(self._actor)
             if abs(self._target_velocity - curr_speed) < self.OFFSET_THRESHOLD:
                 self._control.throttle = 0
                 self._control.brake = 0
                 new_status = py_trees.common.Status.SUCCESS
-                print(f"time_variation:{time_variation},speed_variation:{speed_variation},"
-                      f" current_speed:{CarlaDataProvider.get_velocity(self._actor)}")
+                print(
+                    f"time_variation:{time_variation},speed_variation:{speed_variation},"
+                    f" current_speed:{CarlaDataProvider.get_velocity(self._actor)}"
+                )
             if speed_variation / time_variation < self._acceleration:
                 self._control.throttle = 1
                 self._control.brake = 0
@@ -1635,13 +1807,14 @@ def update(self):
                 self._control.brake = 1
 
         self._actor.apply_control(self._control)
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class ChangeTargetSpeed(AtomicBehavior):
-
     """
     Important parameters:
     - actor: CARLA actor to execute the behavior
@@ -1649,6 +1822,7 @@ class ChangeTargetSpeed(AtomicBehavior):
 
     The behavior will terminate, if the actor's velocity is at least target_velocity
     """
+
     OFFSET_THRESHOLD = 0.7
 
     def __init__(self, actor, target_velocity, name="ChangeTargetSpeed"):
@@ -1663,9 +1837,11 @@ def __init__(self, actor, target_velocity, name="ChangeTargetSpeed"):
 
     def initialise(self):
         # In case of walkers, we have to extract the current heading
-        if self._type == 'walker':
+        if self._type == "walker":
             self._control.speed = self._target_velocity
-            self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector()
+            self._control.direction = CarlaDataProvider.get_transform(
+                self._actor
+            ).get_forward_vector()
 
         super(ChangeTargetSpeed, self).initialise()
 
@@ -1675,34 +1851,37 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        if self._type == 'vehicle':
+        if self._type == "vehicle":
             # curr_speed = CarlaDataProvider.get_velocity(self._actor)
-            curr_speed = calculate_velocity(self._actor)*3.6
+            curr_speed = calculate_velocity(self._actor) * 3.6
             if abs(self._target_velocity - curr_speed) < self.OFFSET_THRESHOLD:
                 self._control.throttle = 0
                 self._control.brake = 0
                 new_status = py_trees.common.Status.SUCCESS
-                print(f'finish change speed!! current speed={curr_speed} km/h')
+                print(f"finish change speed!! current speed={curr_speed} km/h")
             else:
                 if curr_speed < self._target_velocity:
                     # 加速
                     self._control.throttle = 1
                     self._control.brake = 0
-                    print(f'current speed={curr_speed} km/h, target speed={self._target_velocity} km/h, accelerate!!! ')
+                    print(
+                        f"current speed={curr_speed} km/h, target speed={self._target_velocity} km/h, accelerate!!! "
+                    )
                 else:
                     # 减速
                     self._control.throttle = 0
                     self._control.brake = 1
-                    print('decelerate!!!')
+                    print("decelerate!!!")
 
         self._actor.apply_control(self._control)
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class DecelerateToVelocity(AtomicBehavior):
-
     """
     This class contains an atomic acceleration behavior. The controlled
     traffic participant will accelerate with _throttle_value_ until reaching
@@ -1729,9 +1908,11 @@ def __init__(self, actor, brake_value, target_velocity, name="Deceleration"):
 
     def initialise(self):
         # In case of walkers, we have to extract the current heading
-        if self._type == 'walker':
+        if self._type == "walker":
             self._control.speed = self._target_velocity
-            self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector()
+            self._control.direction = CarlaDataProvider.get_transform(
+                self._actor
+            ).get_forward_vector()
 
         super(DecelerateToVelocity, self).initialise()
 
@@ -1741,7 +1922,7 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        if self._type == 'vehicle':
+        if self._type == "vehicle":
             speed = CarlaDataProvider.get_velocity(self._actor)
             if speed > self._target_velocity:
                 self._control.brake = self._brake_value
@@ -1752,13 +1933,14 @@ def update(self):
                 self._control.brake = 0
 
         self._actor.apply_control(self._control)
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class AccelerateToCatchUp(AtomicBehavior):
-
     """
     This class contains an atomic acceleration behavior.
     The car will accelerate until it is faster than another car, in order to catch up distance.
@@ -1777,8 +1959,16 @@ class AccelerateToCatchUp(AtomicBehavior):
     then the behaviour ends with a failure.
     """
 
-    def __init__(self, actor, other_actor, throttle_value=1, delta_velocity=10, trigger_distance=5,
-                 max_distance=500, name="AccelerateToCatchUp"):
+    def __init__(
+        self,
+        actor,
+        other_actor,
+        throttle_value=1,
+        delta_velocity=10,
+        trigger_distance=5,
+        max_distance=500,
+        name="AccelerateToCatchUp",
+    ):
         """
         Setup parameters
         The target_speet is calculated on the fly.
@@ -1796,23 +1986,26 @@ def __init__(self, actor, other_actor, throttle_value=1, delta_velocity=10, trig
         self._initial_actor_pos = None
 
     def initialise(self):
-
         # get initial actor position
         self._initial_actor_pos = CarlaDataProvider.get_location(self._actor)
         super(AccelerateToCatchUp, self).initialise()
 
     def update(self):
-
         # get actor speed
         actor_speed = CarlaDataProvider.get_velocity(self._actor)
-        target_speed = CarlaDataProvider.get_velocity(self._other_actor) + self._delta_velocity
+        target_speed = (
+            CarlaDataProvider.get_velocity(self._other_actor) + self._delta_velocity
+        )
 
         # distance between actors
         distance = CarlaDataProvider.get_location(self._actor).distance(
-            CarlaDataProvider.get_location(self._other_actor))
+            CarlaDataProvider.get_location(self._other_actor)
+        )
 
         # driven distance of actor
-        driven_distance = CarlaDataProvider.get_location(self._actor).distance(self._initial_actor_pos)
+        driven_distance = CarlaDataProvider.get_location(self._actor).distance(
+            self._initial_actor_pos
+        )
 
         if actor_speed < target_speed:
             # set throttle to throttle_value to accelerate
@@ -1837,7 +2030,6 @@ def update(self):
 
 
 class KeepVelocity(AtomicBehavior):
-
     """
     This class contains an atomic behavior to keep the provided velocity.
     The controlled traffic participant will accelerate as fast as possible
@@ -1855,8 +2047,15 @@ class KeepVelocity(AtomicBehavior):
     Alternatively, a parallel termination behavior has to be used.
     """
 
-    def __init__(self, actor, target_velocity, force_speed=False,
-                 duration=float("inf"), distance=float("inf"), name="KeepVelocity"):
+    def __init__(
+        self,
+        actor,
+        target_velocity,
+        force_speed=False,
+        duration=float("inf"),
+        distance=float("inf"),
+        name="KeepVelocity",
+    ):
         """
         Setup parameters including acceleration value (via throttle_value)
         and target velocity
@@ -1882,10 +2081,12 @@ def initialise(self):
         self._start_time = GameTime.get_time()
 
         # In case of walkers, we have to extract the current heading
-        if self._type == 'walker':
+        if self._type == "walker":
             self._control.speed = self._target_velocity
-            self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector()
-        elif self._type == 'vehicle':
+            self._control.direction = CarlaDataProvider.get_transform(
+                self._actor
+            ).get_forward_vector()
+        elif self._type == "vehicle":
             self._control.hand_brake = False
         self._actor.apply_control(self._control)
 
@@ -1899,7 +2100,7 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        if self._type == 'vehicle':
+        if self._type == "vehicle":
             if not self._forced_speed:
                 if CarlaDataProvider.get_velocity(self._actor) < self._target_velocity:
                     self._control.throttle = 1.0
@@ -1907,9 +2108,16 @@ def update(self):
                     self._control.throttle = 0.0
                 self._actor.apply_control(self._control)
             else:
-                yaw = CarlaDataProvider.get_transform(self._actor).rotation.yaw * (math.pi / 180)
-                self._actor.set_target_velocity(carla.Vector3D(
-                    math.cos(yaw) * self._target_velocity, math.sin(yaw) * self._target_velocity, 0))
+                yaw = CarlaDataProvider.get_transform(self._actor).rotation.yaw * (
+                    math.pi / 180
+                )
+                self._actor.set_target_velocity(
+                    carla.Vector3D(
+                        math.cos(yaw) * self._target_velocity,
+                        math.sin(yaw) * self._target_velocity,
+                        0,
+                    )
+                )
 
                 # Add a throttle. Useless speed-wise, but makes the bicycle riders pedal.
                 self._actor.apply_control(carla.VehicleControl(throttle=1.0))
@@ -1924,7 +2132,9 @@ def update(self):
         if GameTime.get_time() - self._start_time > self._duration:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -1934,9 +2144,9 @@ def terminate(self, new_status):
         to avoid further acceleration.
         """
         try:
-            if self._type == 'vehicle':
+            if self._type == "vehicle":
                 self._control.throttle = 0.0
-            elif self._type == 'walker':
+            elif self._type == "walker":
                 self._control.speed = 0.0
             if self._actor is not None and self._actor.is_alive:
                 self._actor.apply_control(self._control)
@@ -1946,7 +2156,6 @@ def terminate(self, new_status):
 
 
 class ChangeAutoPilot(AtomicBehavior):
-
     """
     This class contains an atomic behavior to disable/enable the use of the autopilot.
 
@@ -1969,14 +2178,17 @@ def __init__(self, actor, activate, parameters=None, name="ChangeAutoPilot"):
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
         self._activate = activate
         self._tm = CarlaDataProvider.get_client().get_trafficmanager(
-            CarlaDataProvider.get_traffic_manager_port())
+            CarlaDataProvider.get_traffic_manager_port()
+        )
         self._parameters = parameters
 
     def update(self):
         """
         De/activate autopilot
         """
-        self._actor.set_autopilot(self._activate, CarlaDataProvider.get_traffic_manager_port())
+        self._actor.set_autopilot(
+            self._activate, CarlaDataProvider.get_traffic_manager_port()
+        )
 
         if self._parameters is not None:
             if "auto_lane_change" in self._parameters:
@@ -1988,7 +2200,9 @@ def update(self):
                 max_road_speed = self._actor.get_speed_limit()
                 if max_road_speed is not None:
                     percentage = (max_road_speed - max_speed) / max_road_speed * 100.0
-                    self._tm.vehicle_percentage_speed_difference(self._actor, percentage)
+                    self._tm.vehicle_percentage_speed_difference(
+                        self._actor, percentage
+                    )
                 else:
                     print("ChangeAutopilot: Unable to find the vehicle's speed limit")
 
@@ -2006,12 +2220,13 @@ def update(self):
 
         new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class StopVehicle(AtomicBehavior):
-
     """
     This class contains an atomic stopping behavior. The controlled traffic
     participant will decelerate with _bake_value_ until reaching a full stop.
@@ -2030,7 +2245,7 @@ def __init__(self, actor, brake_value, name="Stopping"):
         super(StopVehicle, self).__init__(name, actor)
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
         self._control, self._type = get_actor_control(actor)
-        if self._type == 'walker':
+        if self._type == "walker":
             self._control.speed = 0
         self._brake_value = brake_value
 
@@ -2040,7 +2255,7 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        if self._type == 'vehicle':
+        if self._type == "vehicle":
             if CarlaDataProvider.get_velocity(self._actor) > EPSILON:
                 self._control.brake = self._brake_value
             else:
@@ -2051,13 +2266,14 @@ def update(self):
 
         self._actor.apply_control(self._control)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class SyncArrival(AtomicBehavior):
-
     """
     This class contains an atomic behavior to
     set velocity of actor so that it reaches location at the same time as
@@ -2073,7 +2289,9 @@ class SyncArrival(AtomicBehavior):
           certain distance, etc.
     """
 
-    def __init__(self, actor, actor_reference, target_location, gain=1, name="SyncArrival"):
+    def __init__(
+        self, actor, actor_reference, target_location, gain=1, name="SyncArrival"
+    ):
         """
         Setup required parameters
         """
@@ -2092,18 +2310,20 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        distance_reference = calculate_distance(CarlaDataProvider.get_location(self._actor_reference),
-                                                self._target_location)
-        distance = calculate_distance(CarlaDataProvider.get_location(self._actor),
-                                      self._target_location)
+        distance_reference = calculate_distance(
+            CarlaDataProvider.get_location(self._actor_reference), self._target_location
+        )
+        distance = calculate_distance(
+            CarlaDataProvider.get_location(self._actor), self._target_location
+        )
 
         velocity_reference = CarlaDataProvider.get_velocity(self._actor_reference)
-        time_reference = float('inf')
+        time_reference = float("inf")
         if velocity_reference > 0:
             time_reference = distance_reference / velocity_reference
 
         velocity_current = CarlaDataProvider.get_velocity(self._actor)
-        time_current = float('inf')
+        time_current = float("inf")
         if velocity_current > 0:
             time_current = distance / velocity_current
 
@@ -2117,7 +2337,9 @@ def update(self):
             self._control.brake = min([abs(control_value), 1])
 
         self._actor.apply_control(self._control)
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def terminate(self, new_status):
@@ -2133,7 +2355,6 @@ def terminate(self, new_status):
 
 
 class SyncArrivalWithAgent(AtomicBehavior):
-
     """
     Atomic to make two actors arrive at their corresponding places at the same time.
     This uses a controller and presuposes that the actor can reach its destination by following the lane.
@@ -2151,8 +2372,15 @@ class SyncArrivalWithAgent(AtomicBehavior):
             Defaults to 'SyncArrivalWithAgent'.
     """
 
-    def __init__(self, actor, reference_actor, actor_target, reference_target, end_dist=1,
-                 name="SyncArrivalWithAgent"):
+    def __init__(
+        self,
+        actor,
+        reference_actor,
+        actor_target,
+        reference_target,
+        end_dist=1,
+        name="SyncArrivalWithAgent",
+    ):
         """
         Setup required parameters
         """
@@ -2171,7 +2399,8 @@ def initialise(self):
         self._agent = ConstantVelocityAgent(
             self._actor,
             map_inst=CarlaDataProvider.get_map(),
-            grp_inst=CarlaDataProvider.get_global_route_planner())
+            grp_inst=CarlaDataProvider.get_global_route_planner(),
+        )
 
     def update(self):
         """
@@ -2182,24 +2411,29 @@ def update(self):
 
         # Get the distance of the actor to its endpoint
         distance = calculate_distance(
-            CarlaDataProvider.get_location(self._actor), self._actor_target.location)
+            CarlaDataProvider.get_location(self._actor), self._actor_target.location
+        )
 
         # Check if the reference actor has passed its target
         if distance < self._end_dist:
             ref_dir = self._reference_target.get_forward_vector()
-            ref_veh = self._reference_target.location - self._reference_actor.get_location()
+            ref_veh = (
+                self._reference_target.location - self._reference_actor.get_location()
+            )
             if ref_veh.dot(ref_dir) > 0:
                 return py_trees.common.Status.SUCCESS
 
         # Get the time to arrival of the reference to its endpoint
         distance_reference = calculate_distance(
-            CarlaDataProvider.get_location(self._reference_actor), self._reference_target.location)
+            CarlaDataProvider.get_location(self._reference_actor),
+            self._reference_target.location,
+        )
 
         velocity_reference = CarlaDataProvider.get_velocity(self._reference_actor)
         if velocity_reference > 0:
             time_reference = distance_reference / velocity_reference
         else:
-            time_reference = float('inf')
+            time_reference = float("inf")
 
         # Get the required velocity of the actor
         desired_velocity = distance / time_reference
@@ -2207,7 +2441,9 @@ def update(self):
         self._agent.set_target_speed(3.6 * desired_velocity)
         self._actor.apply_control(self._agent.run_step())
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def terminate(self, new_status):
@@ -2218,7 +2454,6 @@ def terminate(self, new_status):
 
 
 class CutIn(AtomicBehavior):
-
     """
     Atomic to make an actor lane change using a Python API agent, cutting in front of another one
 
@@ -2236,9 +2471,17 @@ class CutIn(AtomicBehavior):
             Defaults to 'CutIn'.
     """
 
-    def __init__(self, actor, reference_actor, direction, speed_perc=100,
-                 same_lane_time=0, other_lane_time=0, change_time=2,
-                 name="CutIn"):
+    def __init__(
+        self,
+        actor,
+        reference_actor,
+        direction,
+        speed_perc=100,
+        same_lane_time=0,
+        other_lane_time=0,
+        change_time=2,
+        name="CutIn",
+    ):
         """
         Setup required parameters
         """
@@ -2262,8 +2505,14 @@ def initialise(self):
             self._actor,
             3.6 * speed * self._speed_perc / 100,
             map_inst=CarlaDataProvider.get_map(),
-            grp_inst=CarlaDataProvider.get_global_route_planner())
-        self._agent.lane_change(self._direction, self._same_lane_time, self._other_lane_time, self._change_time)
+            grp_inst=CarlaDataProvider.get_global_route_planner(),
+        )
+        self._agent.lane_change(
+            self._direction,
+            self._same_lane_time,
+            self._other_lane_time,
+            self._change_time,
+        )
 
     def update(self):
         """
@@ -2276,12 +2525,13 @@ def update(self):
 
         self._actor.apply_control(self._agent.run_step())
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class AddNoiseToVehicle(AtomicBehavior):
-
     """
     This class contains an atomic jitter behavior.
     To add noise to steer as well as throttle of the vehicle.
@@ -2313,14 +2563,15 @@ def update(self):
         self._control.throttle = self._throttle_value
         new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         self._actor.apply_control(self._control)
 
         return new_status
 
 
 class AddNoiseToRouteEgo(AtomicBehavior):
-
     """
     This class contains an atomic jitter behavior.
     To add noise to steer as well as throttle of the vehicle.
@@ -2333,7 +2584,15 @@ class AddNoiseToRouteEgo(AtomicBehavior):
     The behavior terminates after setting the new actor controls
     """
 
-    def __init__(self, actor, throttle_mean, throttle_std, steer_mean, steer_std, name="AddNoiseToVehicle"):
+    def __init__(
+        self,
+        actor,
+        throttle_mean,
+        throttle_std,
+        steer_mean,
+        steer_std,
+        name="AddNoiseToVehicle",
+    ):
         """
         Setup actor , maximum steer value and throttle value
         """
@@ -2353,7 +2612,9 @@ def update(self):
 
         control = py_trees.blackboard.Blackboard().get("AV_control")
         if not control:
-            print("WARNING: Couldn't add noise to the ego because the control couldn't be found")
+            print(
+                "WARNING: Couldn't add noise to the ego because the control couldn't be found"
+            )
             return new_status
 
         throttle_noise = random.normal(self._throttle_mean, self._throttle_std)
@@ -2362,14 +2623,15 @@ def update(self):
         steer_noise = random.normal(self._steer_mean, self._steer_std)
         control.steer = max(0, min(1, control.steer + steer_noise))
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         self._actor.apply_control(control)
 
         return new_status
 
 
 class ChangeNoiseParameters(AtomicBehavior):
-
     """
     This class contains an atomic jitter behavior.
     To add noise to steer as well as throttle of the vehicle.
@@ -2379,8 +2641,16 @@ class ChangeNoiseParameters(AtomicBehavior):
     The behavior terminates after one iteration
     """
 
-    def __init__(self, new_steer_noise, new_throttle_noise,
-                 noise_mean, noise_std, dynamic_mean_for_steer, dynamic_mean_for_throttle, name="ChangeJittering"):
+    def __init__(
+        self,
+        new_steer_noise,
+        new_throttle_noise,
+        noise_mean,
+        noise_std,
+        dynamic_mean_for_steer,
+        dynamic_mean_for_throttle,
+        name="ChangeJittering",
+    ):
         """
         Setup actor , maximum steer value and throttle value
         """
@@ -2400,11 +2670,17 @@ def update(self):
         Change the noise parameters from the structure copy that it receives.
         """
 
-        self._new_steer_noise[0] = min(0, -(self._noise_to_apply - self._dynamic_mean_for_steer))
-        self._new_throttle_noise[0] = min(self._noise_to_apply + self._dynamic_mean_for_throttle, 1)
+        self._new_steer_noise[0] = min(
+            0, -(self._noise_to_apply - self._dynamic_mean_for_steer)
+        )
+        self._new_throttle_noise[0] = min(
+            self._noise_to_apply + self._dynamic_mean_for_throttle, 1
+        )
 
         new_status = py_trees.common.Status.SUCCESS
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
@@ -2420,7 +2696,15 @@ class BasicAgentBehavior(AtomicBehavior):
     The behavior terminates after reaching the target_location (within 2 meters)
     """
 
-    def __init__(self, actor, target_location=None, plan=None, target_speed=20, opt_dict=None, name="BasicAgentBehavior"):
+    def __init__(
+        self,
+        actor,
+        target_location=None,
+        plan=None,
+        target_speed=20,
+        opt_dict=None,
+        name="BasicAgentBehavior",
+    ):
         """
         Setup actor and maximum steer value
         """
@@ -2439,12 +2723,19 @@ def __init__(self, actor, target_location=None, plan=None, target_speed=20, opt_
 
     def initialise(self):
         """Initialises the agent"""
-        self._agent = BasicAgent(self._actor, self._target_speed, opt_dict=self._opt_dict,
-            map_inst=CarlaDataProvider.get_map(), grp_inst=CarlaDataProvider.get_global_route_planner())
+        self._agent = BasicAgent(
+            self._actor,
+            self._target_speed,
+            opt_dict=self._opt_dict,
+            map_inst=CarlaDataProvider.get_map(),
+            grp_inst=CarlaDataProvider.get_global_route_planner(),
+        )
         if self._plan:
             self._agent.set_global_plan(self._plan)
         elif self._target_location:
-            init_wp = self._map.get_waypoint(CarlaDataProvider.get_location(self._actor))
+            init_wp = self._map.get_waypoint(
+                CarlaDataProvider.get_location(self._actor)
+            )
             end_wp = self._map.get_waypoint(self._target_location)
             self._plan = self._agent.trace_route(init_wp, end_wp)
             self._agent.set_global_plan(self._plan)
@@ -2457,7 +2748,9 @@ def update(self):
         self._control = self._agent.run_step()
         self._actor.apply_control(self._control)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
     def terminate(self, new_status):
@@ -2469,7 +2762,6 @@ def terminate(self, new_status):
 
 
 class ConstantVelocityAgentBehavior(AtomicBehavior):
-
     """
     This class contains an atomic behavior, which uses the
     constant_velocity_agent from CARLA to control the actor until
@@ -2483,8 +2775,14 @@ class ConstantVelocityAgentBehavior(AtomicBehavior):
     The behavior terminates after reaching the target_location (within 2 meters)
     """
 
-    def __init__(self, actor, target_location, target_speed=None,
-                 opt_dict=None, name="ConstantVelocityAgentBehavior"):
+    def __init__(
+        self,
+        actor,
+        target_location,
+        target_speed=None,
+        opt_dict=None,
+        name="ConstantVelocityAgentBehavior",
+    ):
         """
         Set up actor and local planner
         """
@@ -2503,11 +2801,16 @@ def __init__(self, actor, target_location, target_speed=None,
     def initialise(self):
         """Initialises the agent"""
         self._agent = ConstantVelocityAgent(
-            self._actor, self._target_speed * 3.6, opt_dict=self._opt_dict,
-            map_inst=CarlaDataProvider.get_map(), grp_inst=CarlaDataProvider.get_global_route_planner())
+            self._actor,
+            self._target_speed * 3.6,
+            opt_dict=self._opt_dict,
+            map_inst=CarlaDataProvider.get_map(),
+            grp_inst=CarlaDataProvider.get_global_route_planner(),
+        )
         self._plan = self._agent.trace_route(
             self._map.get_waypoint(CarlaDataProvider.get_location(self._actor)),
-            self._map.get_waypoint(self._target_location))
+            self._map.get_waypoint(self._target_location),
+        )
         self._agent.set_global_plan(self._plan)
 
     def update(self):
@@ -2520,7 +2823,9 @@ def update(self):
         self._control = self._agent.run_step()
         self._actor.apply_control(self._control)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -2533,8 +2838,8 @@ def terminate(self, new_status):
             self._agent.destroy_sensor()
         super(ConstantVelocityAgentBehavior, self).terminate(new_status)
 
-class AdaptiveConstantVelocityAgentBehavior(AtomicBehavior):
 
+class AdaptiveConstantVelocityAgentBehavior(AtomicBehavior):
     """
     This class contains an atomic behavior, which uses the
     constant_velocity_agent from CARLA to control the actor until
@@ -2542,17 +2847,24 @@ class AdaptiveConstantVelocityAgentBehavior(AtomicBehavior):
     Important parameters:
     - actor: CARLA actor to execute the behavior.
     - reference_actor: Reference CARLA actor to get target speed.
-    - speed_increment: Float value (m/s). 
+    - speed_increment: Float value (m/s).
                        How much the actor will be faster then the reference_actor.
     - target_location: Is the desired target location (carla.location),
-                       the actor should move to. 
+                       the actor should move to.
                        If it's None, the actor will follow the lane and never stop.
     - plan: List of [carla.Waypoint, RoadOption] to pass to the controller.
     The behavior terminates after reaching the target_location (within 2 meters)
     """
 
-    def __init__(self, actor, reference_actor, target_location=None, speed_increment=10,
-                 opt_dict=None, name="AdaptiveConstantVelocityAgentBehavior"):
+    def __init__(
+        self,
+        actor,
+        reference_actor,
+        target_location=None,
+        speed_increment=10,
+        opt_dict=None,
+        name="AdaptiveConstantVelocityAgentBehavior",
+    ):
         """
         Set up actor and local planner
         """
@@ -2573,13 +2885,19 @@ def initialise(self):
         # Get target speed
         target_speed = get_speed(self._reference_actor) + self._speed_increment * 3.6
 
-        self._agent = ConstantVelocityAgent(self._actor, target_speed, opt_dict=self._opt_dict,
-                                            map_inst=self._map, grp_inst=self._grp)
+        self._agent = ConstantVelocityAgent(
+            self._actor,
+            target_speed,
+            opt_dict=self._opt_dict,
+            map_inst=self._map,
+            grp_inst=self._grp,
+        )
 
         if self._target_location is not None:
             self._plan = self._agent.trace_route(
                 self._map.get_waypoint(CarlaDataProvider.get_location(self._actor)),
-                self._map.get_waypoint(self._target_location))
+                self._map.get_waypoint(self._target_location),
+            )
             self._agent.set_global_plan(self._plan)
 
     def update(self):
@@ -2594,7 +2912,9 @@ def update(self):
         self._control = self._agent.run_step()
         self._actor.apply_control(self._control)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
@@ -2607,8 +2927,8 @@ def terminate(self, new_status):
             self._agent.destroy_sensor()
         super().terminate(new_status)
 
-class Idle(AtomicBehavior):
 
+class Idle(AtomicBehavior):
     """
     This class contains an idle behavior scenario
 
@@ -2646,8 +2966,8 @@ def update(self):
 
         return new_status
 
-class WaitForever(AtomicBehavior):
 
+class WaitForever(AtomicBehavior):
     """
     This class contains a behavior that just waits forever.
     Useful to stop some behavior sequences from stopping unwated parts of the behavior tree
@@ -2670,7 +2990,6 @@ def update(self):
 
 
 class WaypointFollower(AtomicBehavior):
-
     """
     This is an atomic behavior to follow waypoints while maintaining a given speed.
     If no plan is provided, the actor will follow its foward waypoints indefinetely.
@@ -2711,8 +3030,15 @@ class WaypointFollower(AtomicBehavior):
         following behavior must terminate the WaypointFollower.
     """
 
-    def __init__(self, actor, target_speed=None, plan=None, blackboard_queue_name=None,
-                 avoid_collision=False, name="FollowWaypoints"):
+    def __init__(
+        self,
+        actor,
+        target_speed=None,
+        plan=None,
+        blackboard_queue_name=None,
+        avoid_collision=False,
+        name="FollowWaypoints",
+    ):
         """
         Set up actor and local planner
         """
@@ -2726,7 +3052,7 @@ def __init__(self, actor, target_speed=None, plan=None, blackboard_queue_name=No
         self._blackboard_queue_name = blackboard_queue_name
         if blackboard_queue_name is not None:
             self._queue = Blackboard().get(blackboard_queue_name)
-        self._args_lateral_dict = {'K_P': 1.0, 'K_D': 0.01, 'K_I': 0.0, 'dt': 0.05}
+        self._args_lateral_dict = {"K_P": 1.0, "K_D": 0.01, "K_I": 0.0, "dt": 0.05}
         self._avoid_collision = avoid_collision
         self._unique_id = 0
 
@@ -2742,17 +3068,25 @@ def initialise(self):
         self._unique_id = int(round(time.time() * 1e9))
         try:
             # check whether WF for this actor is already running and add new WF to running_WF list
-            check_attr = operator.attrgetter("running_WF_actor_{}".format(self._actor.id))
+            check_attr = operator.attrgetter(
+                "running_WF_actor_{}".format(self._actor.id)
+            )
             running = check_attr(py_trees.blackboard.Blackboard())
             active_wf = copy.copy(running)
             active_wf.append(self._unique_id)
             py_trees.blackboard.Blackboard().set(
-                "running_WF_actor_{}".format(self._actor.id), active_wf, overwrite=True)
+                "running_WF_actor_{}".format(self._actor.id), active_wf, overwrite=True
+            )
         except AttributeError:
             # no WF is active for this actor
-            py_trees.blackboard.Blackboard().set("terminate_WF_actor_{}".format(self._actor.id), [], overwrite=True)
             py_trees.blackboard.Blackboard().set(
-                "running_WF_actor_{}".format(self._actor.id), [self._unique_id], overwrite=True)
+                "terminate_WF_actor_{}".format(self._actor.id), [], overwrite=True
+            )
+            py_trees.blackboard.Blackboard().set(
+                "running_WF_actor_{}".format(self._actor.id),
+                [self._unique_id],
+                overwrite=True,
+            )
 
         for actor in self._actor_dict:
             self._apply_local_planner(actor)
@@ -2774,21 +3108,26 @@ def _apply_local_planner(self, actor):
                 if isinstance(self._plan[0], carla.Location):
                     self._actor_dict[actor] = self._plan
                 else:
-                    self._actor_dict[actor] = [element[0].transform.location for element in self._plan]
+                    self._actor_dict[actor] = [
+                        element[0].transform.location for element in self._plan
+                    ]
         else:
             local_planner = LocalPlanner(  # pylint: disable=undefined-variable
-                actor, opt_dict={
-                    'target_speed': self._target_speed * 3.6,
-                    'lateral_control_dict': self._args_lateral_dict,
-                    'max_throttle': 1.0})
+                actor,
+                opt_dict={
+                    "target_speed": self._target_speed * 3.6,
+                    "lateral_control_dict": self._args_lateral_dict,
+                    "max_throttle": 1.0,
+                },
+            )
 
             if self._plan is not None:
                 if isinstance(self._plan[0], carla.Location):
                     plan = []
                     for location in self._plan:
-                        waypoint = CarlaDataProvider.get_map().get_waypoint(location,
-                                                                            project_to_road=True,
-                                                                            lane_type=carla.LaneType.Any)
+                        waypoint = CarlaDataProvider.get_map().get_waypoint(
+                            location, project_to_road=True, lane_type=carla.LaneType.Any
+                        )
                         plan.append((waypoint, RoadOption.LANEFOLLOW))
                     local_planner.set_global_plan(plan)
                 else:
@@ -2817,9 +3156,13 @@ def update(self):
                 active_wf.remove(self._unique_id)
 
             py_trees.blackboard.Blackboard().set(
-                "terminate_WF_actor_{}".format(self._actor.id), terminate_wf, overwrite=True)
+                "terminate_WF_actor_{}".format(self._actor.id),
+                terminate_wf,
+                overwrite=True,
+            )
             py_trees.blackboard.Blackboard().set(
-                "running_WF_actor_{}".format(self._actor.id), active_wf, overwrite=True)
+                "running_WF_actor_{}".format(self._actor.id), active_wf, overwrite=True
+            )
             new_status = py_trees.common.Status.SUCCESS
             return new_status
 
@@ -2864,7 +3207,9 @@ def update(self):
                     else:
                         control = actor.get_control()
                         control.speed = self._target_speed
-                        control.direction = CarlaDataProvider.get_transform(actor).rotation.get_forward_vector()
+                        control.direction = CarlaDataProvider.get_transform(
+                            actor
+                        ).rotation.get_forward_vector()
                         actor.apply_control(control)
 
         if success:
@@ -2892,7 +3237,6 @@ def terminate(self, new_status):
 
 
 class LaneChange(WaypointFollower):
-
     """
     This class inherits from the class WaypointFollower.
 
@@ -2919,9 +3263,17 @@ class LaneChange(WaypointFollower):
     A parallel termination behavior has to be used.
     """
 
-    def __init__(self, actor, speed=10, direction='left', distance_same_lane=5, distance_other_lane=100,
-                 distance_lane_change=25, lane_changes=1, name='LaneChange'):
-
+    def __init__(
+        self,
+        actor,
+        speed=10,
+        direction="left",
+        distance_same_lane=5,
+        distance_other_lane=100,
+        distance_lane_change=25,
+        lane_changes=1,
+        name="LaneChange",
+    ):
         self._direction = direction
         self._distance_same_lane = distance_same_lane
         self._distance_other_lane = distance_other_lane
@@ -2936,30 +3288,40 @@ def __init__(self, actor, speed=10, direction='left', distance_same_lane=5, dist
         super(LaneChange, self).__init__(actor, target_speed=speed, name=name)
 
     def initialise(self):
-
         # get start position
-        position_actor = CarlaDataProvider.get_map().get_waypoint(self._actor.get_location())
+        position_actor = CarlaDataProvider.get_map().get_waypoint(
+            self._actor.get_location()
+        )
 
         # calculate plan with scenario_helper function
         self._plan, self._target_lane_id = generate_target_waypoint_list_multilane(
-            position_actor, self._direction, self._distance_same_lane,
-            self._distance_other_lane, self._distance_lane_change, check=True, lane_changes=self._lane_changes)
+            position_actor,
+            self._direction,
+            self._distance_same_lane,
+            self._distance_other_lane,
+            self._distance_lane_change,
+            check=True,
+            lane_changes=self._lane_changes,
+        )
         super(LaneChange, self).initialise()
 
     def update(self):
-
         if not self._plan:
             print("{} couldn't perform the expected lane change".format(self._actor))
             return py_trees.common.Status.FAILURE
 
         status = super(LaneChange, self).update()
 
-        current_position_actor = CarlaDataProvider.get_map().get_waypoint(self._actor.get_location())
+        current_position_actor = CarlaDataProvider.get_map().get_waypoint(
+            self._actor.get_location()
+        )
         current_lane_id = current_position_actor.lane_id
 
         if current_lane_id == self._target_lane_id:
             # driving on new lane
-            distance = current_position_actor.transform.location.distance(self._pos_before_lane_change)
+            distance = current_position_actor.transform.location.distance(
+                self._pos_before_lane_change
+            )
 
             if distance > self._distance_other_lane:
                 # long enough distance on new lane --> SUCCESS
@@ -2971,14 +3333,12 @@ def update(self):
 
 
 class SetInitSpeed(AtomicBehavior):
-
     """
     This class contains an atomic behavior to set the init_speed of an actor,
     succeding immeditely after initializing
     """
 
-    def __init__(self, actor, init_speed=10, name='SetInitSpeed'):
-
+    def __init__(self, actor, init_speed=10, name="SetInitSpeed"):
         self._init_speed = init_speed
         self._terminate = None
         self._actor = actor
@@ -3006,7 +3366,6 @@ def update(self):
 
 
 class HandBrakeVehicle(AtomicBehavior):
-
     """
     This class contains an atomic hand brake behavior.
     To set the hand brake value of the vehicle.
@@ -3033,20 +3392,21 @@ def update(self):
         Set handbrake
         """
         new_status = py_trees.common.Status.SUCCESS
-        if self._type == 'vehicle':
+        if self._type == "vehicle":
             self._control.hand_brake = self._hand_brake_value
             self._vehicle.apply_control(self._control)
         else:
             self._hand_brake_value = None
-            self.logger.debug("%s.update()[%s->%s]" %
-                              (self.__class__.__name__, self.status, new_status))
+            self.logger.debug(
+                "%s.update()[%s->%s]"
+                % (self.__class__.__name__, self.status, new_status)
+            )
             self._vehicle.apply_control(self._control)
 
         return new_status
 
 
 class ActorDestroy(AtomicBehavior):
-
     """
     This class contains an actor destroy behavior.
     Given an actor this behavior will delete it.
@@ -3075,7 +3435,6 @@ def update(self):
 
 
 class ActorTransformSetter(AtomicBehavior):
-
     """
     This class contains an atomic behavior to set the transform
     of an actor.
@@ -3119,7 +3478,10 @@ def update(self):
         if not self._actor.is_alive:
             new_status = py_trees.common.Status.FAILURE
 
-        if calculate_distance(self._actor.get_location(), self._transform.location) < 1.0:
+        if (
+            calculate_distance(self._actor.get_location(), self._transform.location)
+            < 1.0
+        ):
             if self._physics is not None:
                 self._actor.set_simulate_physics(self._physics)
             new_status = py_trees.common.Status.SUCCESS
@@ -3128,7 +3490,6 @@ def update(self):
 
 
 class BatchActorTransformSetter(AtomicBehavior):
-
     """
     This class contains an atomic behavior to set the transform
     of an actor.
@@ -3140,7 +3501,9 @@ class BatchActorTransformSetter(AtomicBehavior):
     The behavior terminates immediately
     """
 
-    def __init__(self, actor_transform_list, physics=True, name="BatchActorTransformSetter"):
+    def __init__(
+        self, actor_transform_list, physics=True, name="BatchActorTransformSetter"
+    ):
         """
         Init
         """
@@ -3165,7 +3528,6 @@ def update(self):
 
 
 class TrafficLightStateSetter(AtomicBehavior):
-
     """
     This class contains an atomic behavior to set the state of a given traffic light
 
@@ -3214,8 +3576,15 @@ class TrafficLightControllerSetter(AtomicBehavior):
 
     """
 
-    def __init__(self, traffic_signal_id, state, duration, delay=None, ref_id=None,
-                 name="TrafficLightControllerSetter"):
+    def __init__(
+        self,
+        traffic_signal_id,
+        state,
+        duration,
+        delay=None,
+        ref_id=None,
+        name="TrafficLightControllerSetter",
+    ):
         """
         Init
         """
@@ -3233,7 +3602,9 @@ def __init__(self, traffic_signal_id, state, duration, delay=None, ref_id=None,
 
     def initialise(self):
         self._start_time = GameTime.get_time()
-        self._actor = CarlaDataProvider.get_world().get_traffic_light_from_opendrive_id(self.actor_id)
+        self._actor = CarlaDataProvider.get_world().get_traffic_light_from_opendrive_id(
+            self.actor_id
+        )
         if self._actor is None:
             return py_trees.common.Status.FAILURE
 
@@ -3245,10 +3616,10 @@ def initialise(self):
         else:
             return py_trees.common.Status.FAILURE
         self._previous_traffic_light_info[self._actor] = {
-            'state': self._actor.get_state(),
-            'green_time': self._actor.get_green_time(),
-            'red_time': self._actor.get_red_time(),
-            'yellow_time': self._actor.get_yellow_time()
+            "state": self._actor.get_state(),
+            "green_time": self._actor.get_green_time(),
+            "red_time": self._actor.get_red_time(),
+            "yellow_time": self._actor.get_yellow_time(),
         }
         self._actor.set_state(self._state)
         self._actor.set_green_time(self.duration_time)
@@ -3271,16 +3642,23 @@ def update(self):
     def terminate(self, new_status):
         """Reset all traffic lights back to their previous states"""
         if self._previous_traffic_light_info:
-            self._actor.set_state(self._previous_traffic_light_info[self._actor]['state'])
-            self._actor.set_green_time(self._previous_traffic_light_info[self._actor]['green_time'])
-            self._actor.set_red_time(self._previous_traffic_light_info[self._actor]['red_time'])
-            self._actor.set_yellow_time(self._previous_traffic_light_info[self._actor]['yellow_time'])
+            self._actor.set_state(
+                self._previous_traffic_light_info[self._actor]["state"]
+            )
+            self._actor.set_green_time(
+                self._previous_traffic_light_info[self._actor]["green_time"]
+            )
+            self._actor.set_red_time(
+                self._previous_traffic_light_info[self._actor]["red_time"]
+            )
+            self._actor.set_yellow_time(
+                self._previous_traffic_light_info[self._actor]["yellow_time"]
+            )
 
         super(TrafficLightControllerSetter, self).terminate(new_status)
 
 
 class ActorSource(AtomicBehavior):
-
     """
     Implementation for a behavior that will indefinitely create actors
     at a given transform if no other actor exists in a given radius
@@ -3296,8 +3674,15 @@ class ActorSource(AtomicBehavior):
     A parallel termination behavior has to be used.
     """
 
-    def __init__(self, actor_type_list, transform, threshold, blackboard_queue_name,
-                 actor_limit=7, name="ActorSource"):
+    def __init__(
+        self,
+        actor_type_list,
+        transform,
+        threshold,
+        blackboard_queue_name,
+        actor_limit=7,
+        name="ActorSource",
+    ):
         """
         Setup class members
         """
@@ -3315,13 +3700,21 @@ def update(self):
         if self._actor_limit > 0:
             world_actors = CarlaDataProvider.get_all_actors()
             spawn_point_blocked = False
-            if (self._last_blocking_actor and
-                    self._spawn_point.location.distance(self._last_blocking_actor.get_location()) < self._threshold):
+            if (
+                self._last_blocking_actor
+                and self._spawn_point.location.distance(
+                    self._last_blocking_actor.get_location()
+                )
+                < self._threshold
+            ):
                 spawn_point_blocked = True
 
             if not spawn_point_blocked:
                 for actor in world_actors:
-                    if self._spawn_point.location.distance(actor.get_location()) < self._threshold:
+                    if (
+                        self._spawn_point.location.distance(actor.get_location())
+                        < self._threshold
+                    ):
                         spawn_point_blocked = True
                         self._last_blocking_actor = actor
                         break
@@ -3329,16 +3722,16 @@ def update(self):
             if not spawn_point_blocked:
                 try:
                     new_actor = CarlaDataProvider.request_new_actor(
-                        random.choice(self._actor_types), self._spawn_point)
+                        random.choice(self._actor_types), self._spawn_point
+                    )
                     self._actor_limit -= 1
                     self._queue.put(new_actor)
-                except:                             # pylint: disable=bare-except
+                except:  # pylint: disable=bare-except
                     print("ActorSource unable to spawn actor")
         return new_status
 
 
 class ActorSink(AtomicBehavior):
-
     """
     Implementation for a behavior that will indefinitely destroy actors
     that wander near a given location within a specified threshold.
@@ -3361,7 +3754,9 @@ def __init__(self, sink_location, threshold, name="ActorSink"):
 
     def update(self):
         new_status = py_trees.common.Status.RUNNING
-        CarlaDataProvider.remove_actors_in_surrounding(self._sink_location, self._threshold)
+        CarlaDataProvider.remove_actors_in_surrounding(
+            self._sink_location, self._threshold
+        )
         return new_status
 
 
@@ -3380,17 +3775,30 @@ class ActorFlow(AtomicBehavior):
     - initial_actors: Populates all the flow trajectory at the start
     """
 
-    def __init__(self, source_wp, sink_wp, spawn_dist_interval, sink_dist=2,
-                 actor_speed=20 / 3.6, initial_actors=False, initial_junction=False, name="ActorFlow"):
+    def __init__(
+        self,
+        source_wp,
+        sink_wp,
+        spawn_dist_interval,
+        sink_dist=2,
+        actor_speed=20 / 3.6,
+        initial_actors=False,
+        initial_junction=False,
+        name="ActorFlow",
+    ):
         """
         Setup class members
         """
         super().__init__(name)
         self._rng = CarlaDataProvider.get_random_seed()
         self._world = CarlaDataProvider.get_world()
-        self._tm = CarlaDataProvider.get_client().get_trafficmanager(CarlaDataProvider.get_traffic_manager_port())
+        self._tm = CarlaDataProvider.get_client().get_trafficmanager(
+            CarlaDataProvider.get_traffic_manager_port()
+        )
 
-        self._collision_bp = self._world.get_blueprint_library().find('sensor.other.collision')
+        self._collision_bp = self._world.get_blueprint_library().find(
+            "sensor.other.collision"
+        )
         self._is_constant_velocity_active = True
 
         self._source_wp = source_wp
@@ -3409,7 +3817,11 @@ def __init__(self, source_wp, sink_wp, spawn_dist_interval, sink_dist=2,
         self._max_spawn_dist = spawn_dist_interval[1]
         self._spawn_dist = self._rng.uniform(self._min_spawn_dist, self._max_spawn_dist)
 
-        self._attribute_filter = {'base_type': 'car', 'has_lights': True, 'special_type': ''}
+        self._attribute_filter = {
+            "base_type": "car",
+            "has_lights": True,
+            "special_type": "",
+        }
 
         self._actor_list = []
         self._collision_sensor_list = []
@@ -3429,12 +3841,17 @@ def initialise(self):
                     continue
                 self._spawn_actor(wp.transform)
                 ref_loc = wp.transform.location
-                self._spawn_dist = self._rng.uniform(self._min_spawn_dist, self._max_spawn_dist)
+                self._spawn_dist = self._rng.uniform(
+                    self._min_spawn_dist, self._max_spawn_dist
+                )
 
     def _spawn_actor(self, transform):
         actor = CarlaDataProvider.request_new_actor(
-            'vehicle.*', transform, rolename='scenario',
-            attribute_filter=self._attribute_filter, tick=False
+            "vehicle.*",
+            transform,
+            rolename="scenario",
+            attribute_filter=self._attribute_filter,
+            tick=False,
         )
         if actor is None:
             return py_trees.common.Status.RUNNING
@@ -3450,9 +3867,13 @@ def _spawn_actor(self, transform):
         sensor = None
         if self._is_constant_velocity_active:
             self._tm.ignore_vehicles_percentage(actor, 100)
-            actor.enable_constant_velocity(carla.Vector3D(self._speed, 0, 0))  # For when physics are active
+            actor.enable_constant_velocity(
+                carla.Vector3D(self._speed, 0, 0)
+            )  # For when physics are active
 
-            sensor = self._world.spawn_actor(self._collision_bp, carla.Transform(), attach_to=actor)
+            sensor = self._world.spawn_actor(
+                self._collision_bp, carla.Transform(), attach_to=actor
+            )
             sensor.listen(lambda _: self.stop_constant_velocity())
 
         self._tm.ignore_lights_percentage(actor, 100)
@@ -3463,7 +3884,9 @@ def _spawn_actor(self, transform):
     def update(self):
         """Controls the created actors and creaes / removes other when needed"""
         # Control the vehicles, removing them when needed
-        for actor, sensor in zip(list(self._actor_list), list(self._collision_sensor_list)):
+        for actor, sensor in zip(
+            list(self._actor_list), list(self._collision_sensor_list)
+        ):
             location = CarlaDataProvider.get_location(actor)
             if not location:
                 continue
@@ -3481,7 +3904,9 @@ def update(self):
             distance = self._spawn_dist + 1
         else:
             actor_location = CarlaDataProvider.get_location(self._actor_list[-1])
-            distance = self._source_location.distance(actor_location) if actor_location else 0
+            distance = (
+                self._source_location.distance(actor_location) if actor_location else 0
+            )
 
         if distance > self._spawn_dist:
             self._spawn_actor(self._source_transform)
@@ -3518,8 +3943,8 @@ def terminate(self, new_status):
             # Patched by removing its movement
             actor.disable_constant_velocity()
             actor.set_autopilot(False, CarlaDataProvider.get_traffic_manager_port())
-            actor.set_target_velocity(carla.Vector3D(0,0,0))
-            actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
+            actor.set_target_velocity(carla.Vector3D(0, 0, 0))
+            actor.set_target_angular_velocity(carla.Vector3D(0, 0, 0))
             try:
                 actor.destroy()
             except RuntimeError:
@@ -3540,15 +3965,25 @@ class OppositeActorFlow(AtomicBehavior):
     - offset: offset from the center lane of the actors
     """
 
-    def __init__(self, reference_wp, reference_actor, spawn_dist_interval,
-                 time_distance=1.5, base_distance=30, sink_dist=2, name="OppositeActorFlow"):
+    def __init__(
+        self,
+        reference_wp,
+        reference_actor,
+        spawn_dist_interval,
+        time_distance=1.5,
+        base_distance=30,
+        sink_dist=2,
+        name="OppositeActorFlow",
+    ):
         """
         Setup class members
         """
         super().__init__(name)
         self._rng = CarlaDataProvider.get_random_seed()
         self._world = CarlaDataProvider.get_world()
-        self._tm = CarlaDataProvider.get_client().get_trafficmanager(CarlaDataProvider.get_traffic_manager_port())
+        self._tm = CarlaDataProvider.get_client().get_trafficmanager(
+            CarlaDataProvider.get_traffic_manager_port()
+        )
 
         self._reference_wp = reference_wp
         self._reference_actor = reference_actor
@@ -3560,10 +3995,14 @@ def __init__(self, reference_wp, reference_actor, spawn_dist_interval,
 
         self._sink_dist = sink_dist
 
-        self._attribute_filter = {'base_type': 'car', 'has_lights': True, 'special_type': ''}
+        self._attribute_filter = {
+            "base_type": "car",
+            "has_lights": True,
+            "special_type": "",
+        }
 
         # Opposite direction needs earlier vehicle detection
-        self._opt_dict = {'base_vehicle_threshold': 10, 'detection_speed_ratio': 1.6}
+        self._opt_dict = {"base_vehicle_threshold": 10, "detection_speed_ratio": 1.6}
 
         self._actor_list = []
         self._grp = CarlaDataProvider.get_global_route_planner()
@@ -3599,11 +4038,15 @@ def _move_waypoint_backwards(self, wp, distance):
 
     def initialise(self):
         """Get the actor flow source and sink, depending on the reference actor speed"""
-        self._speed = self._reference_actor.get_speed_limit() # Km / h
+        self._speed = self._reference_actor.get_speed_limit()  # Km / h
         self._flow_distance = self._time_distance * self._speed + self._base_distance
 
-        self._sink_wp = self._move_waypoint_forward(self._reference_wp, self._flow_distance)
-        self._source_wp = self._move_waypoint_backwards(self._reference_wp, self._flow_distance)
+        self._sink_wp = self._move_waypoint_forward(
+            self._reference_wp, self._flow_distance
+        )
+        self._source_wp = self._move_waypoint_backwards(
+            self._reference_wp, self._flow_distance
+        )
 
         self._source_transform = self._source_wp.transform
         self._source_location = self._source_transform.location
@@ -3615,13 +4058,18 @@ def initialise(self):
 
     def _spawn_actor(self):
         actor = CarlaDataProvider.request_new_actor(
-            'vehicle.*', self._source_transform, rolename='scenario',
-            attribute_filter=self._attribute_filter, tick=False
+            "vehicle.*",
+            self._source_transform,
+            rolename="scenario",
+            attribute_filter=self._attribute_filter,
+            tick=False,
         )
         if actor is None:
             return py_trees.common.Status.RUNNING
 
-        controller = BasicAgent(actor, self._speed, self._opt_dict, self._map, self._grp)
+        controller = BasicAgent(
+            actor, self._speed, self._opt_dict, self._map, self._grp
+        )
         controller.set_global_plan(self._route)
         self._actor_list.append([actor, controller])
 
@@ -3647,7 +4095,9 @@ def update(self):
             distance = self._spawn_dist + 1
         else:
             actor_location = CarlaDataProvider.get_location(self._actor_list[-1][0])
-            distance = self._source_location.distance(actor_location) if actor_location else 0
+            distance = (
+                self._source_location.distance(actor_location) if actor_location else 0
+            )
         if distance > self._spawn_dist:
             self._spawn_actor()
 
@@ -3667,8 +4117,8 @@ def terminate(self, new_status):
             # Patched by removing its movement
             actor.disable_constant_velocity()
             actor.set_autopilot(False, CarlaDataProvider.get_traffic_manager_port())
-            actor.set_target_velocity(carla.Vector3D(0,0,0))
-            actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
+            actor.set_target_velocity(carla.Vector3D(0, 0, 0))
+            actor.set_target_angular_velocity(carla.Vector3D(0, 0, 0))
             try:
                 actor.destroy()
             except RuntimeError:
@@ -3689,18 +4139,28 @@ class InvadingActorFlow(AtomicBehavior):
     - offset: offset from the center lane of the actors
     """
 
-    def __init__(self, source_wp, sink_wp, reference_actor, spawn_dist,
-                 sink_dist=2, offset=0, name="OppositeActorFlow"):
+    def __init__(
+        self,
+        source_wp,
+        sink_wp,
+        reference_actor,
+        spawn_dist,
+        sink_dist=2,
+        offset=0,
+        name="OppositeActorFlow",
+    ):
         """
         Setup class members
         """
         super().__init__(name)
         self._world = CarlaDataProvider.get_world()
-        self._tm = CarlaDataProvider.get_client().get_trafficmanager(CarlaDataProvider.get_traffic_manager_port())
+        self._tm = CarlaDataProvider.get_client().get_trafficmanager(
+            CarlaDataProvider.get_traffic_manager_port()
+        )
 
         self._reference_actor = reference_actor
 
-        self._source_wp  = source_wp
+        self._source_wp = source_wp
         self._source_transform = self._source_wp.transform
         self._source_location = self._source_transform.location
 
@@ -3711,13 +4171,21 @@ def __init__(self, source_wp, sink_wp, reference_actor, spawn_dist,
 
         self._sink_dist = sink_dist
 
-        self._attribute_filter = {'base_type': 'car', 'has_lights': True, 'special_type': ''}
+        self._attribute_filter = {
+            "base_type": "car",
+            "has_lights": True,
+            "special_type": "",
+        }
 
         self._actor_list = []
 
         # Opposite direction needs earlier vehicle detection
-        self._opt_dict = {'base_vehicle_threshold': 10, 'detection_speed_ratio': 2, 'distance_ratio': 0.2}
-        self._opt_dict['offset'] = offset
+        self._opt_dict = {
+            "base_vehicle_threshold": 10,
+            "detection_speed_ratio": 2,
+            "distance_ratio": 0.2,
+        }
+        self._opt_dict["offset"] = offset
 
         self._grp = CarlaDataProvider.get_global_route_planner()
         self._map = CarlaDataProvider.get_map()
@@ -3732,13 +4200,18 @@ def initialise(self):
 
     def _spawn_actor(self):
         actor = CarlaDataProvider.request_new_actor(
-            'vehicle.*', self._source_transform, rolename='scenario',
-            attribute_filter=self._attribute_filter, tick=False
+            "vehicle.*",
+            self._source_transform,
+            rolename="scenario",
+            attribute_filter=self._attribute_filter,
+            tick=False,
         )
         if actor is None:
             return py_trees.common.Status.RUNNING
 
-        controller = BasicAgent(actor, self._speed, self._opt_dict, self._map, self._grp)
+        controller = BasicAgent(
+            actor, self._speed, self._opt_dict, self._map, self._grp
+        )
         controller.set_global_plan(self._route)
         self._actor_list.append([actor, controller])
 
@@ -3762,7 +4235,9 @@ def update(self):
             distance = self._spawn_dist + 1
         else:
             actor_location = CarlaDataProvider.get_location(self._actor_list[-1][0])
-            distance = self._source_location.distance(actor_location) if actor_location else 0
+            distance = (
+                self._source_location.distance(actor_location) if actor_location else 0
+            )
         if distance > self._spawn_dist:
             self._spawn_actor()
 
@@ -3782,8 +4257,8 @@ def terminate(self, new_status):
             # Patched by removing its movement
             actor.disable_constant_velocity()
             actor.set_autopilot(False, CarlaDataProvider.get_traffic_manager_port())
-            actor.set_target_velocity(carla.Vector3D(0,0,0))
-            actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
+            actor.set_target_velocity(carla.Vector3D(0, 0, 0))
+            actor.set_target_angular_velocity(carla.Vector3D(0, 0, 0))
             try:
                 actor.destroy()
             except RuntimeError:
@@ -3804,8 +4279,15 @@ class BicycleFlow(AtomicBehavior):
     - initial_actors (bool): Boolean to initialy populate all the flow with bicycles
     """
 
-    def __init__(self, plan, spawn_dist_interval, sink_dist=2,
-                 actor_speed=20 / 3.6, initial_actors=False, name="BicycleFlow"):
+    def __init__(
+        self,
+        plan,
+        spawn_dist_interval,
+        sink_dist=2,
+        actor_speed=20 / 3.6,
+        initial_actors=False,
+        name="BicycleFlow",
+    ):
         """
         Setup class members
         """
@@ -3843,7 +4325,9 @@ def initialise(self):
                     continue
                 self._spawn_actor(wp.transform)
                 ref_loc = wp.transform.location
-                self._spawn_dist = self._rng.uniform(self._min_spawn_dist, self._max_spawn_dist)
+                self._spawn_dist = self._rng.uniform(
+                    self._min_spawn_dist, self._max_spawn_dist
+                )
 
     def _spawn_actor(self, transform):
         """Spawn the actor"""
@@ -3864,19 +4348,29 @@ def _spawn_actor(self, transform):
             return
 
         actor = CarlaDataProvider.request_new_actor(
-            'vehicle.*', transform, rolename='scenario no lights',
-            attribute_filter={'base_type': 'bicycle'}, tick=False
+            "vehicle.*",
+            transform,
+            rolename="scenario no lights",
+            attribute_filter={"base_type": "bicycle"},
+            tick=False,
         )
         if actor is None:
             return
 
-        controller = BasicAgent(actor, 3.6 * self._speed, opt_dict=self._opt_dict,
-            map_inst=CarlaDataProvider.get_map(), grp_inst=CarlaDataProvider.get_global_route_planner())
+        controller = BasicAgent(
+            actor,
+            3.6 * self._speed,
+            opt_dict=self._opt_dict,
+            map_inst=CarlaDataProvider.get_map(),
+            grp_inst=CarlaDataProvider.get_global_route_planner(),
+        )
         controller.set_global_plan(plan)
 
         initial_vec = plan[0][0].transform.get_forward_vector()
         actor.set_target_velocity(self._speed * initial_vec)
-        actor.apply_control(carla.VehicleControl(throttle=1, gear=1, manual_gear_shift=True))
+        actor.apply_control(
+            carla.VehicleControl(throttle=1, gear=1, manual_gear_shift=True)
+        )
 
         self._actor_data.append([actor, controller])
         self._spawn_dist = self._rng.uniform(self._min_spawn_dist, self._max_spawn_dist)
@@ -3925,8 +4419,8 @@ def terminate(self, new_status):
             # Patched by removing its movement
             actor.disable_constant_velocity()
             actor.set_autopilot(False, CarlaDataProvider.get_traffic_manager_port())
-            actor.set_target_velocity(carla.Vector3D(0,0,0))
-            actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
+            actor.set_target_velocity(carla.Vector3D(0, 0, 0))
+            actor.set_target_angular_velocity(carla.Vector3D(0, 0, 0))
             try:
                 actor.destroy()
             except RuntimeError:
@@ -3934,7 +4428,6 @@ def terminate(self, new_status):
 
 
 class OpenVehicleDoor(AtomicBehavior):
-
     """
     Implementation for a behavior that will open the door of a vehicle,
     then close it after a while.
@@ -3965,7 +4458,9 @@ def update(self):
         Keep running until termination condition is satisfied
         """
         new_status = py_trees.common.Status.SUCCESS
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
@@ -3996,10 +4491,10 @@ def initialise(self):
         for tl in self._traffic_lights_dict:
             elapsed_time = tl.get_elapsed_time()
             self._previous_traffic_light_info[tl] = {
-                'state': tl.get_state(),
-                'green_time': tl.get_green_time(),
-                'red_time': tl.get_red_time(),
-                'yellow_time': tl.get_yellow_time()
+                "state": tl.get_state(),
+                "green_time": tl.get_green_time(),
+                "red_time": tl.get_red_time(),
+                "yellow_time": tl.get_yellow_time(),
             }
             tl.set_state(self._traffic_lights_dict[tl])
             tl.set_green_time(self._duration + elapsed_time)
@@ -4017,14 +4512,13 @@ def terminate(self, new_status):
         """Reset all traffic lights back to their previous states"""
         if self._previous_traffic_light_info:
             for tl in self._traffic_lights_dict:
-                tl.set_state(self._previous_traffic_light_info[tl]['state'])
-                tl.set_green_time(self._previous_traffic_light_info[tl]['green_time'])
-                tl.set_red_time(self._previous_traffic_light_info[tl]['red_time'])
-                tl.set_yellow_time(self._previous_traffic_light_info[tl]['yellow_time'])
+                tl.set_state(self._previous_traffic_light_info[tl]["state"])
+                tl.set_green_time(self._previous_traffic_light_info[tl]["green_time"])
+                tl.set_red_time(self._previous_traffic_light_info[tl]["red_time"])
+                tl.set_yellow_time(self._previous_traffic_light_info[tl]["yellow_time"])
 
 
 class StartRecorder(AtomicBehavior):
-
     """
     Atomic that starts the CARLA recorder. Only one can be active
     at a time, and if this isn't the case, the recorder will
@@ -4052,7 +4546,6 @@ def update(self):
 
 
 class StopRecorder(AtomicBehavior):
-
     """
     Atomic that stops the CARLA recorder.
 
@@ -4073,7 +4566,6 @@ def update(self):
 
 
 class TrafficLightManipulator(AtomicBehavior):
-
     """
     Atomic behavior that manipulates traffic lights around the ego_vehicle to trigger scenarios 7 to 10.
     This is done by setting 2 of the traffic light at the intersection to green (with some complex precomputation
@@ -4095,36 +4587,88 @@ class TrafficLightManipulator(AtomicBehavior):
     RESET_TIME = 6  # Time waited before resetting all the junction (seconds)
 
     # Experimental values
-    TRIGGER_DISTANCE = 10  # Distance that makes all vehicles in the lane enter the junction (meters)
+    TRIGGER_DISTANCE = (
+        10  # Distance that makes all vehicles in the lane enter the junction (meters)
+    )
     DIST_TO_WAITING_TIME = 0.04  # Used to wait longer at larger intersections (s/m)
 
-    INT_CONF_OPP1 = {'ego': RED, 'ref': RED, 'left': RED, 'right': RED, 'opposite': GREEN}
-    INT_CONF_OPP2 = {'ego': GREEN, 'ref': GREEN, 'left': RED, 'right': RED, 'opposite': GREEN}
-    INT_CONF_LFT1 = {'ego': RED, 'ref': RED, 'left': GREEN, 'right': RED, 'opposite': RED}
-    INT_CONF_LFT2 = {'ego': GREEN, 'ref': GREEN, 'left': GREEN, 'right': RED, 'opposite': RED}
-    INT_CONF_RGT1 = {'ego': RED, 'ref': RED, 'left': RED, 'right': GREEN, 'opposite': RED}
-    INT_CONF_RGT2 = {'ego': GREEN, 'ref': GREEN, 'left': RED, 'right': GREEN, 'opposite': RED}
+    INT_CONF_OPP1 = {
+        "ego": RED,
+        "ref": RED,
+        "left": RED,
+        "right": RED,
+        "opposite": GREEN,
+    }
+    INT_CONF_OPP2 = {
+        "ego": GREEN,
+        "ref": GREEN,
+        "left": RED,
+        "right": RED,
+        "opposite": GREEN,
+    }
+    INT_CONF_LFT1 = {
+        "ego": RED,
+        "ref": RED,
+        "left": GREEN,
+        "right": RED,
+        "opposite": RED,
+    }
+    INT_CONF_LFT2 = {
+        "ego": GREEN,
+        "ref": GREEN,
+        "left": GREEN,
+        "right": RED,
+        "opposite": RED,
+    }
+    INT_CONF_RGT1 = {
+        "ego": RED,
+        "ref": RED,
+        "left": RED,
+        "right": GREEN,
+        "opposite": RED,
+    }
+    INT_CONF_RGT2 = {
+        "ego": GREEN,
+        "ref": GREEN,
+        "left": RED,
+        "right": GREEN,
+        "opposite": RED,
+    }
 
-    INT_CONF_REF1 = {'ego': GREEN, 'ref': GREEN, 'left': RED, 'right': RED, 'opposite': RED}
-    INT_CONF_REF2 = {'ego': YELLOW, 'ref': YELLOW, 'left': RED, 'right': RED, 'opposite': RED}
+    INT_CONF_REF1 = {
+        "ego": GREEN,
+        "ref": GREEN,
+        "left": RED,
+        "right": RED,
+        "opposite": RED,
+    }
+    INT_CONF_REF2 = {
+        "ego": YELLOW,
+        "ref": YELLOW,
+        "left": RED,
+        "right": RED,
+        "opposite": RED,
+    }
 
     # Depending on the scenario, IN ORDER OF IMPORTANCE, the traffic light changed
     # The list has to contain only items of the INT_CONF
     SUBTYPE_CONFIG_TRANSLATION = {
-        'S7left': ['left', 'opposite', 'right'],
-        'S7right': ['left', 'opposite'],
-        'S7opposite': ['right', 'left', 'opposite'],
-        'S8left': ['opposite'],
-        'S9right': ['left', 'opposite']
+        "S7left": ["left", "opposite", "right"],
+        "S7right": ["left", "opposite"],
+        "S7opposite": ["right", "left", "opposite"],
+        "S8left": ["opposite"],
+        "S9right": ["left", "opposite"],
     }
 
     CONFIG_TLM_TRANSLATION = {
-        'left': [INT_CONF_LFT1, INT_CONF_LFT2],
-        'right': [INT_CONF_RGT1, INT_CONF_RGT2],
-        'opposite': [INT_CONF_OPP1, INT_CONF_OPP2]
+        "left": [INT_CONF_LFT1, INT_CONF_LFT2],
+        "right": [INT_CONF_RGT1, INT_CONF_RGT2],
+        "opposite": [INT_CONF_OPP1, INT_CONF_OPP2],
     }
 
-    def __init__(self, ego_vehicle, subtype, debug=False, name="TrafficLightManipulator"):
+    def __init__(
+        self, ego_vehicle, subtype, debug=False, name="TrafficLightManipulator"
+    ):
         super(TrafficLightManipulator, self).__init__(name)
         self.ego_vehicle = ego_vehicle
         self.subtype = subtype
@@ -4145,23 +4689,27 @@ def __init__(self, ego_vehicle, subtype, debug=False, name="TrafficLightManipula
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
 
     def update(self):
-
         new_status = py_trees.common.Status.RUNNING
 
         # 1) Set up the parameters
         if self.current_step == 1:
-
             # Traffic light affecting the ego vehicle
-            self.traffic_light = CarlaDataProvider.get_next_traffic_light(self.ego_vehicle, use_cached_location=False)
+            self.traffic_light = CarlaDataProvider.get_next_traffic_light(
+                self.ego_vehicle, use_cached_location=False
+            )
             if not self.traffic_light:
                 # nothing else to do in this iteration...
                 return new_status
 
             # "Topology" of the intersection
-            self.annotations = CarlaDataProvider.annotate_trafficlight_in_group(self.traffic_light)
+            self.annotations = CarlaDataProvider.annotate_trafficlight_in_group(
+                self.traffic_light
+            )
 
             # Which traffic light will be modified (apart from the ego lane)
-            self.configuration = self.get_traffic_light_configuration(self.subtype, self.annotations)
+            self.configuration = self.get_traffic_light_configuration(
+                self.subtype, self.annotations
+            )
             if self.configuration is None:
                 self.current_step = 0  # End the behavior
                 return new_status
@@ -4175,7 +4723,6 @@ def update(self):
 
         # 2) Modify the ego lane to yellow when closeby
         elif self.current_step == 2:
-
             ego_location = CarlaDataProvider.get_location(self.ego_vehicle)
 
             if self.junction_location is None:
@@ -4203,21 +4750,25 @@ def update(self):
 
         # 3) Modify the ego lane to red and the chosen one to green after several seconds
         elif self.current_step == 3:
-
             if self.passed_enough_time(self.YELLOW_TIME):
-                _ = self.set_intersection_state(self.CONFIG_TLM_TRANSLATION[self.configuration][0])
+                _ = self.set_intersection_state(
+                    self.CONFIG_TLM_TRANSLATION[self.configuration][0]
+                )
 
                 self.current_step += 1
 
         # 4) Wait a bit to let vehicles enter the intersection, then set the ego lane to green
         elif self.current_step == 4:
-
             # Get the time in red, dependent on the intersection dimensions
             if self.waiting_time is None:
-                self.waiting_time = self.get_waiting_time(self.annotations, self.configuration)
+                self.waiting_time = self.get_waiting_time(
+                    self.annotations, self.configuration
+                )
 
             if self.passed_enough_time(self.waiting_time):
-                _ = self.set_intersection_state(self.CONFIG_TLM_TRANSLATION[self.configuration][1])
+                _ = self.set_intersection_state(
+                    self.CONFIG_TLM_TRANSLATION[self.configuration][1]
+                )
 
                 self.current_step += 1
 
@@ -4266,7 +4817,7 @@ def passed_enough_time(self, time_limit):
             self.prev_time = GameTime.get_time()
 
         timestamp = GameTime.get_time()
-        self.seconds_waited += (timestamp - self.prev_time)
+        self.seconds_waited += timestamp - self.prev_time
         self.prev_time = timestamp
 
         if self.debug:
@@ -4284,10 +4835,8 @@ def set_intersection_state(self, choice):
         Changes the intersection to the desired state
         """
         prev_state = CarlaDataProvider.update_light_states(
-            self.traffic_light,
-            self.annotations,
-            choice,
-            freeze=True)
+            self.traffic_light, self.annotations, choice, freeze=True
+        )
 
         return prev_state
 
@@ -4360,7 +4909,6 @@ def variable_cleanup(self):
 
 
 class ScenarioTriggerer(AtomicBehavior):
-
     """
     Handles the triggering of the scenarios that are part of a route.
 
@@ -4370,7 +4918,15 @@ class ScenarioTriggerer(AtomicBehavior):
 
     WINDOWS_SIZE = 5
 
-    def __init__(self, actor, route, blackboard_list, distance, debug=False, name="ScenarioTriggerer"):
+    def __init__(
+        self,
+        actor,
+        route,
+        blackboard_list,
+        distance,
+        debug=False,
+        name="ScenarioTriggerer",
+    ):
         """
         Setup class members
         """
@@ -4403,9 +4959,11 @@ def update(self):
             return new_status
 
         lower_bound = self._current_index
-        upper_bound = min(self._current_index + self.WINDOWS_SIZE + 1, self._route_length)
+        upper_bound = min(
+            self._current_index + self.WINDOWS_SIZE + 1, self._route_length
+        )
 
-        shortest_distance = float('inf')
+        shortest_distance = float("inf")
         closest_index = -1
 
         for index in range(lower_bound, upper_bound):
@@ -4417,7 +4975,7 @@ def update(self):
                 closest_index = index
                 shortest_distance = dist_to_route
 
-        if closest_index == -1 or shortest_distance == float('inf'):
+        if closest_index == -1 or shortest_distance == float("inf"):
             return new_status
 
         # Update the ego position at the route
@@ -4428,7 +4986,6 @@ def update(self):
         # Check which scenarios can be triggered
         blackboard = py_trees.blackboard.Blackboard()
         for black_var_name, scen_location in self._blackboard_list:
-
             # Close enough
             scen_distance = route_location.distance(scen_location)
             condition1 = bool(scen_distance < self._distance)
@@ -4449,14 +5006,14 @@ def update(self):
                         scen_location + carla.Location(z=4),
                         size=0.5,
                         life_time=0.5,
-                        color=carla.Color(255, 255, 0)
+                        color=carla.Color(255, 255, 0),
                     )
                     self._world.debug.draw_string(
                         scen_location + carla.Location(z=5),
                         str(black_var_name),
                         False,
                         color=carla.Color(0, 0, 0),
-                        life_time=1000
+                        life_time=1000,
                     )
 
         return new_status
@@ -4475,8 +5032,17 @@ class KeepLongitudinalGap(AtomicBehavior):
     The behavior terminates after overwritten by other events / when target distance is reached(if continues).
     """
 
-    def __init__(self, actor, reference_actor, gap, gap_type="distance", max_speed=None, continues=False,
-                 freespace=False, name="AutoKeepDistance"):
+    def __init__(
+        self,
+        actor,
+        reference_actor,
+        gap,
+        gap_type="distance",
+        max_speed=None,
+        continues=False,
+        freespace=False,
+        name="AutoKeepDistance",
+    ):
         """
         Setup parameters
         """
@@ -4491,7 +5057,10 @@ def __init__(self, actor, reference_actor, gap, gap_type="distance", max_speed=N
         max_speed_limit = 100
         self.max_speed = max_speed_limit if max_speed is None else float(max_speed)
         if freespace and self._gap_type == "distance":
-            self._gap += self._reference_actor.bounding_box.extent.x + self._actor.bounding_box.extent.x
+            self._gap += (
+                self._reference_actor.bounding_box.extent.x
+                + self._actor.bounding_box.extent.x
+            )
 
         self._start_time = None
 
@@ -4508,7 +5077,9 @@ def initialise(self):
             raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
 
         self._start_time = GameTime.get_time()
-        actor_dict[self._actor.id].update_target_speed(self.max_speed, start_time=self._start_time)
+        actor_dict[self._actor.id].update_target_speed(
+            self.max_speed, start_time=self._start_time
+        )
 
         self._global_rp = CarlaDataProvider.get_global_route_planner()
 
@@ -4527,7 +5098,10 @@ def update(self):
         if not actor_dict or self._actor.id not in actor_dict:
             return py_trees.common.Status.FAILURE
 
-        if actor_dict[self._actor.id].get_last_longitudinal_command() != self._start_time:
+        if (
+            actor_dict[self._actor.id].get_last_longitudinal_command()
+            != self._start_time
+        ):
             return py_trees.common.Status.SUCCESS
 
         new_status = py_trees.common.Status.RUNNING
@@ -4535,20 +5109,26 @@ def update(self):
         actor_velocity = CarlaDataProvider.get_velocity(self._actor)
         reference_velocity = CarlaDataProvider.get_velocity(self._reference_actor)
 
-        gap = sr_tools.scenario_helper.get_distance_between_actors(self._actor, self._reference_actor,
-                                                                   distance_type="longitudinal",
-                                                                   freespace=self._freespace,
-                                                                   global_planner=self._global_rp)
+        gap = sr_tools.scenario_helper.get_distance_between_actors(
+            self._actor,
+            self._reference_actor,
+            distance_type="longitudinal",
+            freespace=self._freespace,
+            global_planner=self._global_rp,
+        )
         actor_transform = CarlaDataProvider.get_transform(self._actor)
         ref_actor_transform = CarlaDataProvider.get_transform(self._reference_actor)
-        if is_within_distance(ref_actor_transform, actor_transform, float('inf'), [0, 90]) and \
-                operator.le(gap, self._gap):
+        if is_within_distance(
+            ref_actor_transform, actor_transform, float("inf"), [0, 90]
+        ) and operator.le(gap, self._gap):
             try:
-                factor = abs(actor_velocity - reference_velocity)/actor_velocity
+                factor = abs(actor_velocity - reference_velocity) / actor_velocity
                 if actor_velocity > reference_velocity:
-                    actor_velocity = actor_velocity - (factor*actor_velocity)
-                elif actor_velocity < reference_velocity and operator.gt(gap, self._gap):
-                    actor_velocity = actor_velocity + (factor*actor_velocity)
+                    actor_velocity = actor_velocity - (factor * actor_velocity)
+                elif actor_velocity < reference_velocity and operator.gt(
+                    gap, self._gap
+                ):
+                    actor_velocity = actor_velocity + (factor * actor_velocity)
             except ZeroDivisionError:
                 pass
             actor_dict[self._actor.id].update_target_speed(actor_velocity)
@@ -4559,7 +5139,9 @@ def update(self):
         else:
             actor_dict[self._actor.id].update_target_speed(self.max_speed)
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
@@ -4588,7 +5170,8 @@ def update(self):
         new_status = py_trees.common.Status.RUNNING
         try:
             new_actor = CarlaDataProvider.request_new_actor(
-                self._actor_type, self._spawn_point, color=self._color)
+                self._actor_type, self._spawn_point, color=self._color
+            )
             if new_actor:
                 new_status = py_trees.common.Status.SUCCESS
         except:  # pylint: disable=bare-except
@@ -4596,7 +5179,6 @@ def update(self):
 
 
 class SwitchWrongDirectionTest(AtomicBehavior):
-
     """
     Atomic that switch the OutsideRouteLanesTest criterion.
 
@@ -4613,12 +5195,13 @@ def __init__(self, active, name="SwitchWrongDirectionTest"):
         super().__init__(name)
 
     def update(self):
-        py_trees.blackboard.Blackboard().set("AC_SwitchWrongDirectionTest", self._active, overwrite=True)
+        py_trees.blackboard.Blackboard().set(
+            "AC_SwitchWrongDirectionTest", self._active, overwrite=True
+        )
         return py_trees.common.Status.SUCCESS
 
 
 class SwitchMinSpeedCriteria(AtomicBehavior):
-
     def __init__(self, active, name="ChangeMinSpeed"):
         """
         Setup parameters
@@ -4632,7 +5215,9 @@ def update(self):
         keeps track of gap and update the controller accordingly
         """
         new_status = py_trees.common.Status.SUCCESS
-        py_trees.blackboard.Blackboard().set("SwitchMinSpeedCriteria", self._active, overwrite=True)
+        py_trees.blackboard.Blackboard().set(
+            "SwitchMinSpeedCriteria", self._active, overwrite=True
+        )
         return new_status
 
 
@@ -4650,11 +5235,20 @@ class WalkerFlow(AtomicBehavior):
     - sink_locations_prob (list(float)): The probability of each sink_location
     - spawn_dist_interval (list(float)): Distance between spawned actors
     - random_seed : Optional. The seed of numpy's random
-    - sink_distance: Actors closer to the sink than this distance will be deleted. 
+    - sink_distance: Actors closer to the sink than this distance will be deleted.
                      Probably due to the navigation module rerouting the walkers, a sink distance of 2 is reasonable.
     """
-    def __init__(self, source_location, sink_locations, sink_locations_prob, spawn_dist_interval, random_seed=None, sink_dist=2,
-                 name="WalkerFlow"):
+
+    def __init__(
+        self,
+        source_location,
+        sink_locations,
+        sink_locations_prob,
+        spawn_dist_interval,
+        random_seed=None,
+        sink_dist=2,
+        name="WalkerFlow",
+    ):
         """
         Setup class members
         """
@@ -4666,7 +5260,9 @@ def __init__(self, source_location, sink_locations, sink_locations_prob, spawn_d
             self._rng = CarlaDataProvider.get_random_seed()
         self._world = CarlaDataProvider.get_world()
 
-        self._controller_bp = self._world.get_blueprint_library().find('controller.ai.walker')
+        self._controller_bp = self._world.get_blueprint_library().find(
+            "controller.ai.walker"
+        )
 
         self._source_location = source_location
 
@@ -4678,7 +5274,7 @@ def __init__(self, source_location, sink_locations, sink_locations_prob, spawn_d
         self._max_spawn_dist = spawn_dist_interval[1]
         self._spawn_dist = self._rng.uniform(self._min_spawn_dist, self._max_spawn_dist)
 
-        self._batch_size_list = [1,2,3]
+        self._batch_size_list = [1, 2, 3]
 
         self._walkers = []
 
@@ -4706,19 +5302,25 @@ def update(self):
                 spawn_tran = carla.Transform(self._source_location)
                 spawn_tran.location.y -= i
                 walker = CarlaDataProvider.request_new_actor(
-                    'walker.*', spawn_tran, rolename='scenario'
+                    "walker.*", spawn_tran, rolename="scenario"
                 )
                 if walker is None:
                     continue
                 # Use ai.walker to controll walkers
-                controller = self._world.try_spawn_actor(self._controller_bp, carla.Transform(), walker)
-                sink_location = self._rng.choice(a = self._sink_locations, p = self._sink_locations_prob)
+                controller = self._world.try_spawn_actor(
+                    self._controller_bp, carla.Transform(), walker
+                )
+                sink_location = self._rng.choice(
+                    a=self._sink_locations, p=self._sink_locations_prob
+                )
                 controller.start()
                 controller.go_to_location(sink_location)
                 # Add to walkers list
                 self._walkers.append((walker, controller, sink_location))
 
-            self._spawn_dist = self._rng.uniform(self._min_spawn_dist, self._max_spawn_dist)
+            self._spawn_dist = self._rng.uniform(
+                self._min_spawn_dist, self._max_spawn_dist
+            )
 
         return py_trees.common.Status.RUNNING
 
@@ -4737,6 +5339,7 @@ def terminate(self, new_status):
             except RuntimeError:
                 pass  # Actor was already destroyed
 
+
 class AIWalkerBehavior(AtomicBehavior):
     """
     Behavior that creates a walker controlled by AI Walker controller.
@@ -4748,15 +5351,16 @@ class AIWalkerBehavior(AtomicBehavior):
     - sink_location (carla.Location): Location at which the actor will be deleted
     """
 
-    def __init__(self, source_location, sink_location,
-                 name="AIWalkerBehavior"):
+    def __init__(self, source_location, sink_location, name="AIWalkerBehavior"):
         """
         Setup class members
         """
         super(AIWalkerBehavior, self).__init__(name)
 
         self._world = CarlaDataProvider.get_world()
-        self._controller_bp = self._world.get_blueprint_library().find('controller.ai.walker')
+        self._controller_bp = self._world.get_blueprint_library().find(
+            "controller.ai.walker"
+        )
 
         self._source_location = source_location
 
@@ -4776,13 +5380,14 @@ def initialise(self):
         """
         spawn_tran = carla.Transform(self._source_location)
         self._walker = CarlaDataProvider.request_new_actor(
-            'walker.*', spawn_tran, rolename='scenario'
+            "walker.*", spawn_tran, rolename="scenario"
         )
         if self._walker is None:
             raise RuntimeError("Couldn't spawn the walker")
         # Use ai.walker to controll the walker
         self._controller = self._world.try_spawn_actor(
-            self._controller_bp, carla.Transform(), self._walker)
+            self._controller_bp, carla.Transform(), self._walker
+        )
         self._controller.start()
         self._controller.go_to_location(self._sink_location)
 
@@ -4818,7 +5423,6 @@ def terminate(self, new_status):
 
 
 class ScenarioTimeout(AtomicBehavior):
-
     """
     This class is an idle behavior that waits for a set amount of time
     before stoping.
@@ -4849,7 +5453,9 @@ def initialise(self):
         Set start time
         """
         self._start_time = GameTime.get_time()
-        py_trees.blackboard.Blackboard().set("AC_SwitchActorBlockedTest", False, overwrite=True)
+        py_trees.blackboard.Blackboard().set(
+            "AC_SwitchActorBlockedTest", False, overwrite=True
+        )
         super().initialise()
 
     def update(self):
@@ -4868,16 +5474,25 @@ def terminate(self, new_status):
         """
         Modifies the blackboard to tell the `ScenarioTimeoutTest` if the timeout was triggered
         """
-        if not self._terminated:  # py_trees calls the terminate several times for some reason.
-            py_trees.blackboard.Blackboard().set(f"ScenarioTimeout_{self._scenario_name}", self._scenario_timeout, overwrite=True)
-            py_trees.blackboard.Blackboard().set("AC_SwitchActorBlockedTest", True, overwrite=True)
+        if (
+            not self._terminated
+        ):  # py_trees calls the terminate several times for some reason.
+            py_trees.blackboard.Blackboard().set(
+                f"ScenarioTimeout_{self._scenario_name}",
+                self._scenario_timeout,
+                overwrite=True,
+            )
+            py_trees.blackboard.Blackboard().set(
+                "AC_SwitchActorBlockedTest", True, overwrite=True
+            )
             self._terminated = True
         super().terminate(new_status)
 
 
 class MovePedestrianWithEgo(AtomicBehavior):
-
-    def __init__(self, reference_actor, actor, distance, displacement=0, name="TrackActor"):
+    def __init__(
+        self, reference_actor, actor, distance, displacement=0, name="TrackActor"
+    ):
         """
         Setup actor
         """
@@ -4912,6 +5527,8 @@ def update(self):
 
         if GameTime.get_time() - self._start_time > self._teleport_time:
             added_location = carla.Location(x=self._displacement, z=-self._distance)
-            self._actor.set_location(self._reference_actor.get_location() + added_location)
+            self._actor.set_location(
+                self._reference_actor.get_location() + added_location
+            )
             self._start_time = GameTime.get_time()
         return new_status
diff --git a/srunner/scenariomanager/scenarioatomics/atomic_repeat.py b/srunner/scenariomanager/scenarioatomics/atomic_repeat.py
index 9fd3bfb..c60fb35 100644
--- a/srunner/scenariomanager/scenarioatomics/atomic_repeat.py
+++ b/srunner/scenariomanager/scenarioatomics/atomic_repeat.py
@@ -11,14 +11,12 @@ class Decorator(behaviour.Behaviour):
         TypeError: if the child is not an instance of :class:`~py_trees.behaviour.Behaviour`
     """
 
-    def __init__(
-            self,
-            child: behaviour.Behaviour,
-            name
-    ):
+    def __init__(self, child: behaviour.Behaviour, name):
         # Checks
         if not isinstance(child, behaviour.Behaviour):
-            raise TypeError("A decorator's child must be an instance of py_trees.behaviours.Behaviour")
+            raise TypeError(
+                "A decorator's child must be an instance of py_trees.behaviours.Behaviour"
+            )
         # Initialise
         super().__init__(name=name)
         self.children.append(child)
@@ -44,7 +42,8 @@ def tick(self):
         new_status = self.update()
         if new_status not in list(common.Status):
             self.logger.error(
-                "A behaviour returned an invalid status, setting to INVALID [%s][%s]" % (new_status, self.name)
+                "A behaviour returned an invalid status, setting to INVALID [%s][%s]"
+                % (new_status, self.name)
             )
             new_status = common.Status.INVALID
         if new_status != common.Status.RUNNING:
@@ -100,7 +99,9 @@ def update(self):
             :class:`~py_trees.common.Status`: the behaviour's new status :class:`~py_trees.common.Status`
         """
         if self.decorated.status == common.Status.SUCCESS:
-            self.feedback_message = "success is running [%s]" % self.decorated.feedback_message
+            self.feedback_message = (
+                "success is running [%s]" % self.decorated.feedback_message
+            )
             if self.repaet_num < self.period:
                 return common.Status.SUCCESS
             self.repaet_num += 1
diff --git a/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py b/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py
index bacb2fa..952cfed 100644
--- a/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py
+++ b/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py
@@ -31,7 +31,10 @@
 from srunner.scenariomanager.scenarioatomics.atomic_behaviors import calculate_distance
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 from srunner.scenariomanager.timer import GameTime
-from srunner.tools.scenario_helper import get_distance_along_route, get_distance_between_actors
+from srunner.tools.scenario_helper import (
+    get_distance_along_route,
+    get_distance_between_actors,
+)
 
 import srunner.tools as sr_tools
 
@@ -39,7 +42,6 @@
 
 
 class AtomicCondition(py_trees.behaviour.Behaviour):
-
     """
     Base class for all atomic conditions used to setup a scenario
 
@@ -74,12 +76,16 @@ def terminate(self, new_status):
         """
         Default terminate. Can be extended in derived class
         """
-        self.logger.debug("%s.terminate()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.terminate()[%s->%s]"
+            % (self.__class__.__name__, self.status, new_status)
+        )
 
 
 class IfTriggerer(AtomicCondition):
-
-    def __init__(self, actor_ego, actor_npc, comparison_operator=operator.gt, name="IfTriggerer"):
+    def __init__(
+        self, actor_ego, actor_npc, comparison_operator=operator.gt, name="IfTriggerer"
+    ):
         super(IfTriggerer, self).__init__(name)
         self.actor_ego = actor_ego
         self.actor_npc = actor_npc
@@ -119,8 +125,14 @@ def update(self):
 
 
 class InTriggerNearCollision(AtomicCondition):
-    def __init__(self, reference_actor, actor, distance, comparison_operator=operator.lt,
-                 name="InTriggerNearCollision"):
+    def __init__(
+        self,
+        reference_actor,
+        actor,
+        distance,
+        comparison_operator=operator.lt,
+        name="InTriggerNearCollision",
+    ):
         """
         Setup trigger distance
         """
@@ -144,20 +156,23 @@ def update(self):
         if location is None or reference_location is None:
             return new_status
 
-        if self._comparison_operator(calculate_distance(location, reference_location), self._distance):
+        if self._comparison_operator(
+            calculate_distance(location, reference_location), self._distance
+        ):
             new_status = py_trees.common.Status.SUCCESS
             print("Too close, collision!")
             self._control.throttle = 0
             self._control.brake = 1
-            print('decelerate!!!')
+            print("decelerate!!!")
             self._reference_actor.apply_control(self._control)
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTriggerDistanceToOSCPosition(AtomicCondition):
-
     """
     OpenSCENARIO atomic
     This class contains the trigger condition for a distance to an OpenSCENARIO position
@@ -171,8 +186,15 @@ class InTriggerDistanceToOSCPosition(AtomicCondition):
     The condition terminates with SUCCESS, when the actor reached the target distance to the openSCENARIO position
     """
 
-    def __init__(self, actor, osc_position, distance, along_route=False,
-                 comparison_operator=operator.lt, name="InTriggerDistanceToOSCPosition"):
+    def __init__(
+        self,
+        actor,
+        osc_position,
+        distance,
+        along_route=False,
+        comparison_operator=operator.lt,
+        name="InTriggerDistanceToOSCPosition",
+    ):
         """
         Setup parameters
         """
@@ -202,7 +224,8 @@ def update(self):
 
         # calculate transform with method in openscenario_parser.py
         osc_transform = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
-            self._osc_position)
+            self._osc_position
+        )
 
         if osc_transform is not None:
             osc_location = osc_transform.location
@@ -210,7 +233,9 @@ def update(self):
 
             if self._along_route:
                 # Global planner needs a location at a driving lane
-                actor_location = self._map.get_waypoint(actor_location).transform.location
+                actor_location = self._map.get_waypoint(
+                    actor_location
+                ).transform.location
                 osc_location = self._map.get_waypoint(osc_location).transform.location
 
             distance = calculate_distance(actor_location, osc_location, self._grp)
@@ -222,7 +247,6 @@ def update(self):
 
 
 class InTimeToArrivalToOSCPosition(AtomicCondition):
-
     """
     OpenSCENARIO atomic
     This class contains a trigger if an actor arrives within a given time to an OpenSCENARIO position
@@ -236,8 +260,15 @@ class InTimeToArrivalToOSCPosition(AtomicCondition):
     The condition terminates with SUCCESS, when the actor can reach the position within the given time
     """
 
-    def __init__(self, actor, osc_position, time, along_route=False,
-                 comparison_operator=operator.lt, name="InTimeToArrivalToOSCPosition"):
+    def __init__(
+        self,
+        actor,
+        osc_position,
+        time,
+        along_route=False,
+        comparison_operator=operator.lt,
+        name="InTimeToArrivalToOSCPosition",
+    ):
         """
         Setup parameters
         """
@@ -268,7 +299,8 @@ def update(self):
         # calculate transform with method in openscenario_parser.py
         try:
             osc_transform = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
-                self._osc_position)
+                self._osc_position
+            )
         except AttributeError:
             return py_trees.common.Status.FAILURE
         target_location = osc_transform.location
@@ -292,7 +324,7 @@ def update(self):
         elif distance == 0:
             time_to_arrival = 0
         else:
-            time_to_arrival = float('inf')
+            time_to_arrival = float("inf")
 
         if self._comparison_operator(time_to_arrival, self._time):
             new_status = py_trees.common.Status.SUCCESS
@@ -300,7 +332,6 @@ def update(self):
 
 
 class StandStill(AtomicCondition):
-
     """
     This class contains a standstill behavior of a scenario
 
@@ -344,13 +375,14 @@ def update(self):
         if GameTime.get_time() - self._start_time > self._duration:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class RelativeVelocityToOtherActor(AtomicCondition):
-
     """
     Atomic containing a comparison between an actor's velocity
     and another actor's one. The behavior returns SUCCESS when the
@@ -364,8 +396,14 @@ class RelativeVelocityToOtherActor(AtomicCondition):
         comparison_operator: Type "operator", used to compare the two velocities
     """
 
-    def __init__(self, actor, other_actor, speed, comparison_operator=operator.gt,
-                 name="RelativeVelocityToOtherActor"):
+    def __init__(
+        self,
+        actor,
+        other_actor,
+        speed,
+        comparison_operator=operator.gt,
+        name="RelativeVelocityToOtherActor",
+    ):
         """
         Setup the parameters
         """
@@ -394,13 +432,14 @@ def update(self):
         if self._comparison_operator(relative_speed, self._relative_speed):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class TriggerVelocity(AtomicCondition):
-
     """
     Atomic containing a comparison between an actor's speed and a reference one.
     The behavior returns SUCCESS when the expected comparison (greater than /
@@ -413,7 +452,13 @@ class TriggerVelocity(AtomicCondition):
         comparison_operator: Type "operator", used to compare the two velocities
     """
 
-    def __init__(self, actor, target_velocity, comparison_operator=operator.gt, name="TriggerVelocity"):
+    def __init__(
+        self,
+        actor,
+        target_velocity,
+        comparison_operator=operator.gt,
+        name="TriggerVelocity",
+    ):
         """
         Setup the atomic parameters
         """
@@ -438,13 +483,14 @@ def update(self):
         if self._comparison_operator(actor_speed, self._target_velocity):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class TriggerAcceleration(AtomicCondition):
-
     """
     Atomic containing a comparison between an actor's acceleration
     and a reference one. The behavior returns SUCCESS when the
@@ -457,7 +503,13 @@ class TriggerAcceleration(AtomicCondition):
         comparison_operator (operator): Type "operator", used to compare the two acceleration
     """
 
-    def __init__(self, actor, target_acceleration, comparison_operator=operator.gt, name="TriggerAcceleration"):
+    def __init__(
+        self,
+        actor,
+        target_acceleration,
+        comparison_operator=operator.gt,
+        name="TriggerAcceleration",
+    ):
         """
         Setup trigger acceleration
         """
@@ -478,20 +530,23 @@ def update(self):
         new_status = py_trees.common.Status.RUNNING
 
         acceleration = self._actor.get_acceleration()
-        linear_accel = math.sqrt(math.pow(acceleration.x, 2) +
-                                 math.pow(acceleration.y, 2) +
-                                 math.pow(acceleration.z, 2))
+        linear_accel = math.sqrt(
+            math.pow(acceleration.x, 2)
+            + math.pow(acceleration.y, 2)
+            + math.pow(acceleration.z, 2)
+        )
 
         if self._comparison_operator(linear_accel, self._target_acceleration):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class TimeOfDayComparison(AtomicCondition):
-
     """
     Atomic containing a comparison between the current time of day of the simulation
     and a given one. The behavior returns SUCCESS when the
@@ -504,9 +559,10 @@ class TimeOfDayComparison(AtomicCondition):
         comparison_operator (operator): Type "operator", used to compare the two acceleration
     """
 
-    def __init__(self, dattime, comparison_operator=operator.gt, name="TimeOfDayComparison"):
-        """
-        """
+    def __init__(
+        self, dattime, comparison_operator=operator.gt, name="TimeOfDayComparison"
+    ):
+        """ """
         super(TimeOfDayComparison, self).__init__(name)
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
         self._datetime = datetime.datetime.strptime(dattime, "%Y-%m-%dT%H:%M:%S")
@@ -531,13 +587,14 @@ def update(self):
         if self._comparison_operator(dtime, self._datetime):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class OSCStartEndCondition(AtomicCondition):
-
     """
     This class contains a check if a named story element has started/terminated.
 
@@ -575,18 +632,21 @@ def update(self):
         new_status = py_trees.common.Status.RUNNING
 
         if new_status == py_trees.common.Status.RUNNING:
-            blackboard_variable_name = "({}){}-{}".format(self._element_type, self._element_name, self._rule)
+            blackboard_variable_name = "({}){}-{}".format(
+                self._element_type, self._element_name, self._rule
+            )
             element_start_time = self._blackboard.get(blackboard_variable_name)
             if element_start_time and element_start_time >= self._start_time:
                 new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTriggerRegion(AtomicCondition):
-
     """
     This class contains the trigger region (condition) of a scenario
 
@@ -622,18 +682,20 @@ def update(self):
         if location is None:
             return new_status
 
-        not_in_region = (location.x < self._min_x or location.x > self._max_x) or \
-                        (location.y < self._min_y or location.y > self._max_y)
+        not_in_region = (location.x < self._min_x or location.x > self._max_x) or (
+            location.y < self._min_y or location.y > self._max_y
+        )
         if not not_in_region:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTriggerDistanceToVehicle(AtomicCondition):
-
     """
     This class contains the trigger distance (condition) between to actors
     of a scenario
@@ -650,8 +712,16 @@ class InTriggerDistanceToVehicle(AtomicCondition):
     The condition terminates with SUCCESS, when the actor reached the target distance to the other actor
     """
 
-    def __init__(self, reference_actor, actor, distance, comparison_operator=operator.lt,
-                 distance_type="cartesianDistance", freespace=False, name="TriggerDistanceToVehicle"):
+    def __init__(
+        self,
+        reference_actor,
+        actor,
+        distance,
+        comparison_operator=operator.lt,
+        distance_type="cartesianDistance",
+        freespace=False,
+        name="TriggerDistanceToVehicle",
+    ):
         """
         Setup trigger distance
         """
@@ -682,18 +752,24 @@ def update(self):
             return new_status
 
         distance = get_distance_between_actors(
-            self._actor, self._reference_actor, self._distance_type, self._freespace, self._global_rp)
+            self._actor,
+            self._reference_actor,
+            self._distance_type,
+            self._freespace,
+            self._global_rp,
+        )
 
         if self._comparison_operator(distance, self._distance):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTriggerDistanceToLocation(AtomicCondition):
-
     """
     This class contains the trigger (condition) for a distance to a fixed
     location of a scenario
@@ -707,12 +783,14 @@ class InTriggerDistanceToLocation(AtomicCondition):
     The condition terminates with SUCCESS, when the actor reached the target distance to the given location
     """
 
-    def __init__(self,
-                 actor,
-                 target_location,
-                 distance,
-                 comparison_operator=operator.lt,
-                 name="InTriggerDistanceToLocation"):
+    def __init__(
+        self,
+        actor,
+        target_location,
+        distance,
+        comparison_operator=operator.lt,
+        name="InTriggerDistanceToLocation",
+    ):
         """
         Setup trigger distance
         """
@@ -735,17 +813,19 @@ def update(self):
         if location is None:
             return new_status
 
-        if self._comparison_operator(calculate_distance(
-                location, self._target_location), self._distance):
+        if self._comparison_operator(
+            calculate_distance(location, self._target_location), self._distance
+        ):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTriggerDistanceToNextIntersection(AtomicCondition):
-
     """
     This class contains the trigger (condition) for a distance to the
     next intersection of a scenario
@@ -780,19 +860,24 @@ def update(self):
         """
         new_status = py_trees.common.Status.RUNNING
 
-        current_waypoint = self._map.get_waypoint(CarlaDataProvider.get_location(self._actor))
-        distance = calculate_distance(current_waypoint.transform.location, self._final_location)
+        current_waypoint = self._map.get_waypoint(
+            CarlaDataProvider.get_location(self._actor)
+        )
+        distance = calculate_distance(
+            current_waypoint.transform.location, self._final_location
+        )
 
         if distance < self._distance:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTriggerDistanceToLocationAlongRoute(AtomicCondition):
-
     """
     Implementation for a behavior that will check if a given actor
     is within a given distance to a given location considering a given route
@@ -808,7 +893,14 @@ class InTriggerDistanceToLocationAlongRoute(AtomicCondition):
     along its route to the given location
     """
 
-    def __init__(self, actor, route, location, distance, name="InTriggerDistanceToLocationAlongRoute"):
+    def __init__(
+        self,
+        actor,
+        route,
+        location,
+        distance,
+        name="InTriggerDistanceToLocationAlongRoute",
+    ):
         """
         Setup class members
         """
@@ -819,7 +911,9 @@ def __init__(self, actor, route, location, distance, name="InTriggerDistanceToLo
         self._route = route
         self._distance = distance
 
-        self._location_distance, _ = get_distance_along_route(self._route, self._location)
+        self._location_distance, _ = get_distance_along_route(
+            self._route, self._location
+        )
 
     def update(self):
         new_status = py_trees.common.Status.RUNNING
@@ -830,20 +924,19 @@ def update(self):
             return new_status
 
         if current_location.distance(self._location) < self._distance + 20:
-
             actor_distance, _ = get_distance_along_route(self._route, current_location)
 
             # If closer than self._distance and hasn't passed the trigger point
-            if (self._location_distance < actor_distance + self._distance and
-                actor_distance < self._location_distance) or \
-                    self._location_distance < 1.0:
+            if (
+                self._location_distance < actor_distance + self._distance
+                and actor_distance < self._location_distance
+            ) or self._location_distance < 1.0:
                 new_status = py_trees.common.Status.SUCCESS
 
         return new_status
 
 
 class InTimeToArrivalToLocation(AtomicCondition):
-
     """
     This class contains a check if a actor arrives within a given time
     at a given location.
@@ -857,9 +950,16 @@ class InTimeToArrivalToLocation(AtomicCondition):
     The condition terminates with SUCCESS, when the actor can reach the target location within the given time
     """
 
-    _max_time_to_arrival = float('inf')  # time to arrival in seconds
+    _max_time_to_arrival = float("inf")  # time to arrival in seconds
 
-    def __init__(self, actor, time, location, comparison_operator=operator.lt, name="TimeToArrival"):
+    def __init__(
+        self,
+        actor,
+        time,
+        location,
+        comparison_operator=operator.lt,
+        name="TimeToArrival",
+    ):
         """
         Setup parameters
         """
@@ -892,13 +992,14 @@ def update(self):
         if self._comparison_operator(time_to_arrival, self._time):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTimeToArrivalToVehicle(AtomicCondition):
-
     """
     This class contains a check if a actor arrives within a given time
     at another actor.
@@ -912,10 +1013,18 @@ class InTimeToArrivalToVehicle(AtomicCondition):
     The condition terminates with SUCCESS, when the actor can reach the other vehicle within the given time
     """
 
-    _max_time_to_arrival = float('inf')  # time to arrival in seconds
+    _max_time_to_arrival = float("inf")  # time to arrival in seconds
 
-    def __init__(self, actor, other_actor, time, condition_freespace=False,
-                 along_route=False, comparison_operator=operator.lt, name="TimeToArrival"):
+    def __init__(
+        self,
+        actor,
+        other_actor,
+        time,
+        condition_freespace=False,
+        along_route=False,
+        comparison_operator=operator.lt,
+        name="TimeToArrival",
+    ):
         """
         Setup parameters
         """
@@ -966,7 +1075,9 @@ def update(self):
 
         if self._along_route:
             # Global planner needs a location at a driving lane
-            current_location = self._map.get_waypoint(current_location).transform.location
+            current_location = self._map.get_waypoint(
+                current_location
+            ).transform.location
             other_location = self._map.get_waypoint(other_location).transform.location
 
         distance = calculate_distance(current_location, other_location, self._grp)
@@ -976,20 +1087,23 @@ def update(self):
 
         if current_velocity > other_velocity:
             if self._condition_freespace:
-                time_to_arrival = (distance - actor_extent - other_extent) / (current_velocity - other_velocity)
+                time_to_arrival = (distance - actor_extent - other_extent) / (
+                    current_velocity - other_velocity
+                )
             else:
                 time_to_arrival = distance / (current_velocity - other_velocity)
 
         if self._comparison_operator(time_to_arrival, self._time):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class InTimeToArrivalToVehicleSideLane(InTimeToArrivalToLocation):
-
     """
     This class contains a check if a actor arrives within a given time
     at another actor's side lane. Inherits from InTimeToArrivalToLocation
@@ -1004,10 +1118,17 @@ class InTimeToArrivalToVehicleSideLane(InTimeToArrivalToLocation):
     The condition terminates with SUCCESS, when the actor can reach the other vehicle within the given time
     """
 
-    _max_time_to_arrival = float('inf')  # time to arrival in seconds
+    _max_time_to_arrival = float("inf")  # time to arrival in seconds
 
-    def __init__(self, actor, other_actor, time, side_lane,
-                 comparison_operator=operator.lt, name="InTimeToArrivalToVehicleSideLane"):
+    def __init__(
+        self,
+        actor,
+        other_actor,
+        time,
+        side_lane,
+        comparison_operator=operator.lt,
+        name="InTimeToArrivalToVehicleSideLane",
+    ):
         """
         Setup parameters
         """
@@ -1020,9 +1141,9 @@ def __init__(self, actor, other_actor, time, side_lane,
         other_location = other_actor.get_transform().location
         other_waypoint = self._map.get_waypoint(other_location)
 
-        if self._side_lane == 'right':
+        if self._side_lane == "right":
             other_side_waypoint = other_waypoint.get_left_lane()
-        elif self._side_lane == 'left':
+        elif self._side_lane == "left":
             other_side_waypoint = other_waypoint.get_right_lane()
         else:
             raise Exception("cut_in_lane must be either 'left' or 'right'")
@@ -1030,7 +1151,8 @@ def __init__(self, actor, other_actor, time, side_lane,
         other_side_location = other_side_waypoint.transform.location
 
         super(InTimeToArrivalToVehicleSideLane, self).__init__(
-            actor, time, other_side_location, comparison_operator, name)
+            actor, time, other_side_location, comparison_operator, name
+        )
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
 
     def update(self):
@@ -1042,9 +1164,9 @@ def update(self):
         other_location = CarlaDataProvider.get_location(self._other_actor)
         other_waypoint = self._map.get_waypoint(other_location)
 
-        if self._side_lane == 'right':
+        if self._side_lane == "right":
             other_side_waypoint = other_waypoint.get_left_lane()
-        elif self._side_lane == 'left':
+        elif self._side_lane == "left":
             other_side_waypoint = other_waypoint.get_right_lane()
         else:
             raise Exception("cut_in_lane must be either 'left' or 'right'")
@@ -1062,7 +1184,6 @@ def update(self):
 
 
 class WaitUntilInFront(AtomicCondition):
-
     """
     Behavior that support the creation of cut ins. It waits until the actor has passed another actor
 
@@ -1074,7 +1195,9 @@ class WaitUntilInFront(AtomicCondition):
         1: The front of the other_actor and the back of the actor are right next to each other
     """
 
-    def __init__(self, actor, other_actor, factor=1, check_distance=True, name="WaitUntilInFront"):
+    def __init__(
+        self, actor, other_actor, factor=1, check_distance=True, name="WaitUntilInFront"
+    ):
         """
         Init
         """
@@ -1128,7 +1251,10 @@ def update(self):
         # Wait for it to be close-by
         if not self._check_distance:
             close_by = True
-        elif actor_location.distance(other_next_waypoint.transform.location) < self._distance:
+        elif (
+            actor_location.distance(other_next_waypoint.transform.location)
+            < self._distance
+        ):
             close_by = True
 
         if in_front and close_by:
@@ -1138,7 +1264,6 @@ def update(self):
 
 
 class WaitUntilInFrontPosition(AtomicCondition):
-
     """
     Behavior that support the creation of cut ins. It waits until the actor has passed another actor
 
@@ -1147,7 +1272,14 @@ class WaitUntilInFrontPosition(AtomicCondition):
     - transform: the reference transform that the actor will have to get in front of
     """
 
-    def __init__(self, actor, transform, check_distance=True, distance=10, name="WaitUntilInFrontPosition"):
+    def __init__(
+        self,
+        actor,
+        transform,
+        check_distance=True,
+        distance=10,
+        name="WaitUntilInFrontPosition",
+    ):
         """
         Init
         """
@@ -1177,7 +1309,10 @@ def update(self):
         in_front = actor_dir.dot(self._ref_vector) > 0.0
 
         # Is the actor close-by?
-        if not self._check_distance or location.distance(self._ref_location) < self._distance:
+        if (
+            not self._check_distance
+            or location.distance(self._ref_location) < self._distance
+        ):
             close_by = True
         else:
             close_by = False
@@ -1189,7 +1324,6 @@ def update(self):
 
 
 class DriveDistance(AtomicCondition):
-
     """
     This class contains an atomic behavior to drive a certain distance.
 
@@ -1231,12 +1365,13 @@ def update(self):
         if self._distance > self._target_distance:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class AtRightmostLane(AtomicCondition):
-
     """
     This class contains an atomic behavior to check if the actor is at the rightest driving lane.
 
@@ -1273,12 +1408,13 @@ def update(self):
         if lane_type != carla.LaneType.Driving:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
         return new_status
 
 
 class WaitForTrafficLightState(AtomicCondition):
-
     """
     This class contains an atomic behavior to wait for a given traffic light
     to have the desired state.
@@ -1311,13 +1447,14 @@ def update(self):
         if self._actor.state == self._state:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class WaitForTrafficLightControllerState(AtomicCondition):
-
     """
     This class contains an atomic behavior to wait for a given traffic light
     to have the desired state.
@@ -1329,8 +1466,15 @@ class WaitForTrafficLightControllerState(AtomicCondition):
     The condition terminates with SUCCESS, when the traffic light switches to the desired state
     """
 
-    def __init__(self, traffic_signal_id, state, duration, delay=None, ref_id=None,
-                 name="WaitForTrafficLightControllerState"):
+    def __init__(
+        self,
+        traffic_signal_id,
+        state,
+        duration,
+        delay=None,
+        ref_id=None,
+        name="WaitForTrafficLightControllerState",
+    ):
         """
         Init
         """
@@ -1346,8 +1490,9 @@ def __init__(self, traffic_signal_id, state, duration, delay=None, ref_id=None,
         self.logger.debug("%s.__init__()" % self.__class__.__name__)
 
     def initialise(self):
-
-        self._actor = CarlaDataProvider.get_world().get_traffic_light_from_opendrive_id(self.actor_id)
+        self._actor = CarlaDataProvider.get_world().get_traffic_light_from_opendrive_id(
+            self.actor_id
+        )
         if self._actor is None:
             return py_trees.common.Status.FAILURE
 
@@ -1375,23 +1520,29 @@ def update(self):
             if self._start_time is None:
                 self._start_time = GameTime.get_time()
 
-        if self._actor.state == self._state and GameTime.get_time() - self._start_time >= self.duration_time:
+        if (
+            self._actor.state == self._state
+            and GameTime.get_time() - self._start_time >= self.duration_time
+        ):
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class WaitEndIntersection(AtomicCondition):
-
     """
     Atomic behavior that waits until the vehicles has gone outside the junction.
     If currently inside no intersection, it will wait until one is found.
     If 'junction_id' is given, it will wait until that specific junction has finished
     """
 
-    def __init__(self, actor, junction_id=None, debug=False, name="WaitEndIntersection"):
+    def __init__(
+        self, actor, junction_id=None, debug=False, name="WaitEndIntersection"
+    ):
         super(WaitEndIntersection, self).__init__(name)
         self.actor = actor
         self.debug = debug
@@ -1400,7 +1551,6 @@ def __init__(self, actor, junction_id=None, debug=False, name="WaitEndIntersecti
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
 
     def update(self):
-
         new_status = py_trees.common.Status.RUNNING
 
         location = CarlaDataProvider.get_location(self.actor)
@@ -1424,7 +1574,6 @@ def update(self):
 
 
 class WaitForBlackboardVariable(AtomicCondition):
-
     """
     Atomic behavior that keeps running until the blackboard variable is set to the corresponding value.
     Used to avoid returning FAILURE if the blackboard comparison fails.
@@ -1432,8 +1581,14 @@ class WaitForBlackboardVariable(AtomicCondition):
     It also initially sets the variable to a given value, if given
     """
 
-    def __init__(self, variable_name, variable_value, var_init_value=None,
-                 debug=False, name="WaitForBlackboardVariable"):
+    def __init__(
+        self,
+        variable_name,
+        variable_value,
+        var_init_value=None,
+        debug=False,
+        name="WaitForBlackboardVariable",
+    ):
         super(WaitForBlackboardVariable, self).__init__(name)
         self._debug = debug
         self._variable_name = variable_name
@@ -1445,7 +1600,6 @@ def __init__(self, variable_name, variable_value, var_init_value=None,
             _ = blackboard.set(variable_name, var_init_value)
 
     def update(self):
-
         new_status = py_trees.common.Status.RUNNING
 
         blackv = py_trees.blackboard.Blackboard()
@@ -1464,7 +1618,14 @@ class CheckParameter(AtomicCondition):
     The condition terminates with SUCCESS, when the comparison_operator is evaluated successfully.
     """
 
-    def __init__(self, parameter_ref, value, comparison_operator, debug=False, name="CheckParameter"):
+    def __init__(
+        self,
+        parameter_ref,
+        value,
+        comparison_operator,
+        debug=False,
+        name="CheckParameter",
+    ):
         super(CheckParameter, self).__init__(name)
         self._parameter_ref = parameter_ref
         self._value = value
@@ -1476,7 +1637,9 @@ def update(self):
         keeps comparing global osc value with given value till it is successful.
         """
         new_status = py_trees.common.Status.RUNNING
-        current_value = CarlaDataProvider.get_osc_global_param_value(self._parameter_ref)
+        current_value = CarlaDataProvider.get_osc_global_param_value(
+            self._parameter_ref
+        )
         if self._comparison_operator(current_value, self._value):
             new_status = py_trees.common.Status.SUCCESS
 
diff --git a/srunner/scenariomanager/timer.py b/srunner/scenariomanager/timer.py
index de5d202..386cdf5 100644
--- a/srunner/scenariomanager/timer.py
+++ b/srunner/scenariomanager/timer.py
@@ -18,7 +18,6 @@
 
 
 class GameTime(object):
-
     """
     This (static) class provides access to the CARLA game time.
 
@@ -86,7 +85,6 @@ def get_frame():
 
 
 class SimulationTimeCondition(py_trees.behaviour.Behaviour):
-
     """
     This class contains an atomic simulation time condition behavior.
     It uses the CARLA game time, not the system time which is used by
@@ -95,7 +93,9 @@ class SimulationTimeCondition(py_trees.behaviour.Behaviour):
     Returns, if the provided rule was successfully evaluated
     """
 
-    def __init__(self, timeout, comparison_operator=operator.gt, name="SimulationTimeCondition"):
+    def __init__(
+        self, timeout, comparison_operator=operator.gt, name="SimulationTimeCondition"
+    ):
         """
         Setup timeout
         """
@@ -126,13 +126,14 @@ def update(self):
         else:
             new_status = py_trees.common.Status.SUCCESS
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
 
 
 class TimeOut(SimulationTimeCondition):
-
     """
     This class contains an atomic timeout behavior.
     It uses the CARLA game time, not the system time which is used by
@@ -164,6 +165,7 @@ class RouteTimeoutBehavior(py_trees.behaviour.Behaviour):
     Behavior responsible of the route's timeout. With an initial value,
     it increases every time the agent advanced through the route, and is dependent on the road's speed.
     """
+
     MIN_TIMEOUT = 300
     TIMEOUT_ROUTE_PERC = 10
 
@@ -219,7 +221,10 @@ def update(self):
 
         new_index = self._current_index
 
-        for index in range(self._current_index, min(self._current_index + self._wsize + 1, self._route_length)):
+        for index in range(
+            self._current_index,
+            min(self._current_index + self._wsize + 1, self._route_length),
+        ):
             route_transform = self._route_transforms[index]
             route_veh_vec = ego_location - route_transform.location
             if route_veh_vec.dot(route_transform.get_forward_vector()) > 0:
@@ -227,7 +232,10 @@ def update(self):
 
         # Update the timeout value
         if new_index > self._current_index:
-            dist = self._route_accum_meters[new_index] - self._route_accum_meters[self._current_index]
+            dist = (
+                self._route_accum_meters[new_index]
+                - self._route_accum_meters[self._current_index]
+            )
             max_speed = self._ego_vehicle.get_speed_limit() / 3.6
             timeout_speed = max_speed * self.TIMEOUT_ROUTE_PERC / 100
             self._timeout_value += dist / timeout_speed
@@ -238,6 +246,8 @@ def update(self):
             new_status = py_trees.common.Status.SUCCESS
             self.timeout = True
 
-        self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
+        self.logger.debug(
+            "%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status)
+        )
 
         return new_status
diff --git a/srunner/scenariomanager/traffic_events.py b/srunner/scenariomanager/traffic_events.py
index d7fe1bd..3b49692 100644
--- a/srunner/scenariomanager/traffic_events.py
+++ b/srunner/scenariomanager/traffic_events.py
@@ -11,7 +11,6 @@
 
 
 class TrafficEventType(Enum):
-
     """
     This enum represents different traffic events that occur during driving.
     """
@@ -36,7 +35,6 @@ class TrafficEventType(Enum):
 
 
 class TrafficEvent(object):
-
     """
     TrafficEvent definition
     """
@@ -46,7 +44,7 @@ def __init__(self, event_type, frame, message="", dictionary=None):
         Initialize object
 
         :param event_type: TrafficEventType defining the type of traffic event
-        :param frame: frame in which the event happened 
+        :param frame: frame in which the event happened
         :param message: optional message to inform users of the event
         :param dictionary: optional dictionary with arbitrary keys and values
         """
diff --git a/srunner/scenariomanager/watchdog.py b/srunner/scenariomanager/watchdog.py
index 26e5b5e..14423bc 100644
--- a/srunner/scenariomanager/watchdog.py
+++ b/srunner/scenariomanager/watchdog.py
@@ -9,9 +9,11 @@
 This module provides a simple watchdog timer to detect timeouts
 It is for example used in the ScenarioManager
 """
+
 from __future__ import print_function
 
 import simple_watchdog_timer as swt
+
 try:
     import thread
 except ImportError:
@@ -36,7 +38,9 @@ def __init__(self, timeout=1.0, interval=None):
         """Class constructor"""
         self._watchdog = None
         self._timeout = timeout + 1.0
-        self._interval = min(interval if interval is not None else self._timeout / 100, 1.0)
+        self._interval = min(
+            interval if interval is not None else self._timeout / 100, 1.0
+        )
         self._failed = False
         self._watchdog_stopped = False
 
@@ -45,7 +49,7 @@ def start(self):
         self._watchdog = swt.WDT(
             check_interval_sec=self._interval,
             trigger_delta_sec=self._timeout,
-            callback=self._callback
+            callback=self._callback,
         )
 
     def stop(self):
@@ -77,7 +81,9 @@ def _callback(self, watchdog):
         """Method called when the timer triggers. Raises a KeyboardInterrupt on
         the main thread and stops the watchdog."""
         self.pause()  # Good practice to stop it after the event occurs
-        print('Watchdog exception - Timeout of {} seconds occured'.format(self._timeout))
+        print(
+            "Watchdog exception - Timeout of {} seconds occured".format(self._timeout)
+        )
         self._failed = True
         thread.interrupt_main()
 
diff --git a/srunner/scenarios/no_signal_junction_crossing.py b/srunner/scenarios/no_signal_junction_crossing.py
index 0add829..02c28a1 100644
--- a/srunner/scenarios/no_signal_junction_crossing.py
+++ b/srunner/scenarios/no_signal_junction_crossing.py
@@ -15,18 +15,23 @@
 import carla
 
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
-from srunner.scenariomanager.scenarioatomics.atomic_behaviors import (ActorTransformSetter,
-                                                                      ActorDestroy,
-                                                                      SyncArrival,
-                                                                      KeepVelocity,
-                                                                      StopVehicle)
+from srunner.scenariomanager.scenarioatomics.atomic_behaviors import (
+    ActorTransformSetter,
+    ActorDestroy,
+    SyncArrival,
+    KeepVelocity,
+    StopVehicle,
+)
 from srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest
-from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import InTriggerRegion, DriveDistance, WaitEndIntersection
+from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (
+    InTriggerRegion,
+    DriveDistance,
+    WaitEndIntersection,
+)
 from srunner.scenarios.basic_scenario import BasicScenario
 
 
 class NoSignalJunctionCrossing(BasicScenario):
-
     """
     Implementation class for
     'Non-signalized junctions: crossing negotiation' scenario,
@@ -43,8 +48,16 @@ class NoSignalJunctionCrossing(BasicScenario):
     _other_actor_max_brake = 1.0
     _other_actor_target_velocity = 15
 
-    def __init__(self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True,
-                 timeout=60):
+    def __init__(
+        self,
+        world,
+        ego_vehicles,
+        config,
+        randomize=False,
+        debug_mode=False,
+        criteria_enable=True,
+        timeout=60,
+    ):
         """
         Setup all relevant parameters and create scenario
         """
@@ -53,12 +66,14 @@ def __init__(self, world, ego_vehicles, config, randomize=False, debug_mode=Fals
         # Timeout of scenario in seconds
         self.timeout = timeout
 
-        super(NoSignalJunctionCrossing, self).__init__("NoSignalJunctionCrossing",
-                                                       ego_vehicles,
-                                                       config,
-                                                       world,
-                                                       debug_mode,
-                                                       criteria_enable=criteria_enable)
+        super(NoSignalJunctionCrossing, self).__init__(
+            "NoSignalJunctionCrossing",
+            ego_vehicles,
+            config,
+            world,
+            debug_mode,
+            criteria_enable=criteria_enable,
+        )
 
     def _initialize_actors(self, config):
         """
@@ -66,11 +81,16 @@ def _initialize_actors(self, config):
         """
         self._other_actor_transform = config.other_actors[0].transform
         first_vehicle_transform = carla.Transform(
-            carla.Location(config.other_actors[0].transform.location.x,
-                           config.other_actors[0].transform.location.y,
-                           config.other_actors[0].transform.location.z - 500),
-            config.other_actors[0].transform.rotation)
-        first_vehicle = CarlaDataProvider.request_new_actor(config.other_actors[0].model, first_vehicle_transform)
+            carla.Location(
+                config.other_actors[0].transform.location.x,
+                config.other_actors[0].transform.location.y,
+                config.other_actors[0].transform.location.z - 500,
+            ),
+            config.other_actors[0].transform.rotation,
+        )
+        first_vehicle = CarlaDataProvider.request_new_actor(
+            config.other_actors[0].model, first_vehicle_transform
+        )
         first_vehicle.set_simulate_physics(enabled=False)
         self.other_actors.append(first_vehicle)
 
@@ -87,50 +107,43 @@ def _create_behavior(self):
         """
 
         # Creating leaf nodes
-        start_other_trigger = InTriggerRegion(
-            self.ego_vehicles[0],
-            -80, -70,
-            -75, -60)
+        start_other_trigger = InTriggerRegion(self.ego_vehicles[0], -80, -70, -75, -60)
 
         sync_arrival = SyncArrival(
-            self.other_actors[0], self.ego_vehicles[0],
-            carla.Location(x=-74.63, y=-136.34))
+            self.other_actors[0],
+            self.ego_vehicles[0],
+            carla.Location(x=-74.63, y=-136.34),
+        )
 
         pass_through_trigger = InTriggerRegion(
-            self.ego_vehicles[0],
-            -90, -70,
-            -124, -119)
+            self.ego_vehicles[0], -90, -70, -124, -119
+        )
 
         keep_velocity_other = KeepVelocity(
-            self.other_actors[0],
-            self._other_actor_target_velocity)
+            self.other_actors[0], self._other_actor_target_velocity
+        )
 
-        stop_other_trigger = InTriggerRegion(
-            self.other_actors[0],
-            -45, -35,
-            -140, -130)
+        stop_other_trigger = InTriggerRegion(self.other_actors[0], -45, -35, -140, -130)
 
-        stop_other = StopVehicle(
-            self.other_actors[0],
-            self._other_actor_max_brake)
+        stop_other = StopVehicle(self.other_actors[0], self._other_actor_max_brake)
 
-        end_condition = InTriggerRegion(
-            self.ego_vehicles[0],
-            -90, -70,
-            -170, -156
-        )
+        end_condition = InTriggerRegion(self.ego_vehicles[0], -90, -70, -170, -156)
 
         # Creating non-leaf nodes
         root = py_trees.composites.Sequence()
         scenario_sequence = py_trees.composites.Sequence()
         sync_arrival_parallel = py_trees.composites.Parallel(
-            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
+            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE
+        )
         keep_velocity_other_parallel = py_trees.composites.Parallel(
-            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
+            policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE
+        )
 
         # Building tree
         root.add_child(scenario_sequence)
-        scenario_sequence.add_child(ActorTransformSetter(self.other_actors[0], self._other_actor_transform))
+        scenario_sequence.add_child(
+            ActorTransformSetter(self.other_actors[0], self._other_actor_transform)
+        )
         scenario_sequence.add_child(start_other_trigger)
         scenario_sequence.add_child(sync_arrival_parallel)
         scenario_sequence.add_child(keep_velocity_other_parallel)
@@ -165,15 +178,22 @@ def __del__(self):
 
 
 class NoSignalJunctionCrossingRoute(BasicScenario):
-
     """
     At routes, these scenarios are simplified, as they can be triggered making
     use of the background activity. For unsignalized intersections, just wait
     until the ego_vehicle has left the intersection.
     """
 
-    def __init__(self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True,
-                 timeout=180):
+    def __init__(
+        self,
+        world,
+        ego_vehicles,
+        config,
+        randomize=False,
+        debug_mode=False,
+        criteria_enable=True,
+        timeout=180,
+    ):
         """
         Setup all relevant parameters and create scenario
         and instantiate scenario manager
@@ -182,12 +202,14 @@ def __init__(self, world, ego_vehicles, config, randomize=False, debug_mode=Fals
         self.timeout = timeout
         self._end_distance = 50
 
-        super(NoSignalJunctionCrossingRoute, self).__init__("NoSignalJunctionCrossingRoute",
-                                                            ego_vehicles,
-                                                            config,
-                                                            world,
-                                                            debug_mode,
-                                                            criteria_enable=criteria_enable)
+        super(NoSignalJunctionCrossingRoute, self).__init__(
+            "NoSignalJunctionCrossingRoute",
+            ego_vehicles,
+            config,
+            world,
+            debug_mode,
+            criteria_enable=criteria_enable,
+        )
 
     def _create_behavior(self):
         """

From 74034330406c148532cb31a50fd1ec20b2582095 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 02:10:10 +0100
Subject: [PATCH 078/133] (bug) added annotations import to resolve imports
 only be static type checkers

---
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index f42d2d9..44f396d 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.sr/bin/env python
 
+from __future__ import annotations
+
 import math
 import queue
 

From 7c48d20b4cc05725bc2f66837851dda8b50c4e44 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 01:11:08 +0000
Subject: [PATCH 079/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index af3c1fe4002255f44d8ef627790724fa779deb40..d69600b3792fd7b19dc252d850d9ccaa24142d59 100644
GIT binary patch
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From 7c865bc4b9a3db48a4d694be56d2d5d4acaf4598 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 02:32:24 +0100
Subject: [PATCH 080/133] bug fixes

---
 srunner/autoagents/autonomous_agent.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/srunner/autoagents/autonomous_agent.py b/srunner/autoagents/autonomous_agent.py
index 617db9d..2eac8d5 100644
--- a/srunner/autoagents/autonomous_agent.py
+++ b/srunner/autoagents/autonomous_agent.py
@@ -22,6 +22,7 @@ def __init__(self, path_to_conf_file):
         #  current global plans to reach a destination
         self._global_plan = None
         self._global_plan_world_coord = None
+        self._carla_timestamp = None
 
         # this data structure will contain all sensor data
         # self.sensor_interface = SensorInterface()

From f56a72f724f76729bb1300b4dda831cb229d9c0d Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 01:34:20 +0000
Subject: [PATCH 081/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index d69600b3792fd7b19dc252d850d9ccaa24142d59..512e7be93959a408993a3ddb1f0492d32e80cd58 100644
GIT binary patch
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From 9c08dcf1cf57a6cbfa9fd6e11ace5518e4cf2e8c Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 14:47:52 +0100
Subject: [PATCH 082/133] added sim vs wall ratio logging

---
 srunner/autoagents/autoware_agent.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index e171513..81f4fb7 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -182,8 +182,9 @@ def run_step(self) -> None:
         self.counter += 1
         if self.counter % int(1 / self.tick_delta) == 0:
             logger.info(
-                f"Ticked 1 second game-time, Current time: {GameTime.get_time():.2f}s, Current tick: {self.counter}"
+                f"Ticked 1 second game-time, Current time: {GameTime.get_time():.2f}s, Current tick: {self.counter}. Ratio of 1s:{time.perf_counter_ns() - self.last_tick}s (Sim vs Wall)"
             )
+
             self.last_tick = time.perf_counter_ns()
 
         # check if the current route is set and we can publish engage

From 9e6193be33330b93720d2d952aeac40aa54771ba Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 13:49:38 +0000
Subject: [PATCH 083/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 512e7be93959a408993a3ddb1f0492d32e80cd58..87b686d51e6042623b6e1121a035cf204fbc1939 100644
GIT binary patch
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From bbd4531b46c4bdd59137f3fcb4147e8efdbc561b Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 16:22:54 +0100
Subject: [PATCH 084/133] (fix) attempted performance fixes to reduce sim:wall
 ratio

---
 cawsr.py                                      |  1 +
 .../autoware_carla_interface/carla_ros.py     |  9 ++++--
 .../modules/carla_wrapper.py                  |  4 ++-
 srunner/scenariomanager/scenario_manager.py   | 30 ++++++++++---------
 4 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 5ebb64e..d9ddef1 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -314,6 +314,7 @@ def _tick_carla(self) -> None:
                 timestamp = snapshot.timestamp
         if timestamp:
             CarlaDataProvider.get_world().tick()
+            time.sleep(0)
             GameTime.on_carla_tick(timestamp)
             CarlaDataProvider.on_carla_tick()
 
diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 44f396d..08e0c26 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -531,11 +531,16 @@ def run_step(self, input_data, timestamp):
         obj_clock.clock = Time(sec=seconds, nanosec=nanoseconds)
         self.clock_publisher.publish(obj_clock)
 
-        # publish data of all sensors
+        _epsilon = 1e-6
+
+        # publish data of all sensors — skip entries whose timestamp is older
+        # than the current frame (stale cached data from persistent sensor cache)
         for key, data in input_data.items():
             sensor_type = self.id_to_sensor_type_map[key]
             sensor_timestamp = data[0]
             sensor_data = data[1]
+            if sensor_timestamp + _epsilon < self.timestamp:
+                continue
             if sensor_type == "sensor.camera.rgb":
                 self.camera(sensor_data, timestamp=sensor_timestamp)
             elif sensor_type == "sensor.other.gnss":
@@ -550,7 +555,7 @@ def run_step(self, input_data, timestamp):
         self.ego_status()
 
         try:
-            _, control = self._control_queue.get(True, 1.0)
+            _, control = self._control_queue.get_nowait()
         except queue.Empty:
             control = carla.VehicleControl()
 
diff --git a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
index 364ceba..5d7e859 100644
--- a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
+++ b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
@@ -133,7 +133,9 @@ def get_data(self, expected_time=None):
             )
             if not has_fresh and self._sensors_objects:
                 try:
-                    tag, sensor_timestamp, data = self._new_data_buffers.get(True, 0.01)
+                    tag, sensor_timestamp, data = self._new_data_buffers.get(
+                        True, 0.001
+                    )
                     self._last_data[tag] = (sensor_timestamp, data)
                 except Empty:
                     pass
diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
index 1d8aae1..7006b1b 100644
--- a/srunner/scenariomanager/scenario_manager.py
+++ b/srunner/scenariomanager/scenario_manager.py
@@ -127,8 +127,23 @@ def run_scenario(self):
 
         while self._running:
             _tick_start = time.perf_counter_ns() / 1e6
-            timestamp = None
+
+            # Advance CARLA to the next frame *before* agent processing
+            # so sensor callbacks deliver during the tick and data is
+            # immediately available for the agent on this same iteration.
+            _tick_carla_start = time.perf_counter_ns() / 1e6
             world = CarlaDataProvider.get_world()
+            if world:
+                world.tick()
+                # Yield the GIL several times so CARLA internal threads
+                # can push sensor callbacks into the data buffers.
+                for _ in range(5):
+                    time.sleep(0)
+            MetricsCollector.update_key(
+                "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
+            )
+
+            timestamp = None
             if world:
                 snapshot = world.get_snapshot()
                 if snapshot:
@@ -199,19 +214,6 @@ def _tick_scenario(self, timestamp):
             if self.scenario_tree.status != py_trees.common.Status.RUNNING:
                 self._running = False
 
-            end_tick = time.perf_counter_ns()
-
-            _tick_carla_start = time.perf_counter_ns() / 1e6
-            CarlaDataProvider.get_world().tick()
-
-            # Yield to CARLA internal threads so sensor callbacks for
-            # the just-ticked frame deliver before the next snapshot read.
-            time.sleep(0)
-
-            MetricsCollector.update_key(
-                "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
-            )
-
     def _tick_spectator_cam(self, ego: carla.Actor) -> None:
         """Ticks the spectator camera for the chosen ego"""
         vehicle_transform = ego.get_transform()

From 617b3d87bceb98a0f92ac36cae869a6f824dfafb Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 15:25:54 +0000
Subject: [PATCH 085/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 87b686d51e6042623b6e1121a035cf204fbc1939..8d50dc09c6e016843d7cdd469fdfc5ed3fbb360e 100644
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zA<mbK>`;m6DMvU>;hY6WIL%?4?e~swN-(NeSXdaDC0iQkCIVTyCP22Xr9q;FZc4I=
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From 89a4c0e1f79fee2fc46ca781440f7500a009b159 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 18:27:22 +0100
Subject: [PATCH 086/133] (bug) fixed issue with incorrect init_loop() before
 causing localisation issue

---
 cawsr.py                                            | 13 +++++++------
 .../modules/carla_wrapper.py                        |  3 +++
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index d9ddef1..78b1075 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -306,17 +306,18 @@ def run_scenario(
 
     def _tick_carla(self) -> None:
         """Advances CARLA 1 tick into the future"""
-        timestamp = None
         world = CarlaDataProvider.get_world()
         if world:
+            world.tick()
+            for _ in range(5):
+                time.sleep(0)
+
             snapshot = world.get_snapshot()
             if snapshot:
                 timestamp = snapshot.timestamp
-        if timestamp:
-            CarlaDataProvider.get_world().tick()
-            time.sleep(0)
-            GameTime.on_carla_tick(timestamp)
-            CarlaDataProvider.on_carla_tick()
+                self.aw_agent._carla_timestamp = timestamp
+                GameTime.on_carla_tick(timestamp)
+                CarlaDataProvider.on_carla_tick()
 
     def _load_alg(self) -> type[BasicAlgorithm]:
         """Load an algorithm instance from mounted docker volume algorithms/
diff --git a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
index 5d7e859..bd34440 100644
--- a/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
+++ b/srunner/autoagents/autoware_carla_interface/modules/carla_wrapper.py
@@ -104,6 +104,9 @@ def update_sensor(self, tag, data, timestamp):
         if tag not in self._sensors_objects:
             raise ValueError(f"Sensor with tag [{tag}] has not been created")
 
+        if hasattr(timestamp, "elapsed_seconds"):
+            timestamp = timestamp.elapsed_seconds
+
         self._new_data_buffers.put((tag, timestamp, data))
 
     def get_data(self, expected_time=None):

From c8985bcdc8c87b4debd28ecfbf69daef5dfeabb6 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 17:28:21 +0000
Subject: [PATCH 087/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 8d50dc09c6e016843d7cdd469fdfc5ed3fbb360e..11a1fa74e822ce69a15218c833c465bbe3113ed6 100644
GIT binary patch
delta 267
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MCAP0l<PK*70MdX<RsaA1


From ffa11a82201c7c8bae7f00e63f9dcee7434b83b6 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 18:36:03 +0100
Subject: [PATCH 088/133] (fix) fixed bug with _tick_carla() calling agent
 class before initialisation

---
 cawsr.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index 78b1075..00ec37f 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -315,7 +315,8 @@ def _tick_carla(self) -> None:
             snapshot = world.get_snapshot()
             if snapshot:
                 timestamp = snapshot.timestamp
-                self.aw_agent._carla_timestamp = timestamp
+                if self.aw_agent is not None:
+                    self.aw_agent._carla_timestamp = timestamp
                 GameTime.on_carla_tick(timestamp)
                 CarlaDataProvider.on_carla_tick()
 

From e2d75c052bd270181429500cccb0e2cfc50aeebb Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 17:37:12 +0000
Subject: [PATCH 089/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 11a1fa74e822ce69a15218c833c465bbe3113ed6..0b94008ad82b65118bf40bbba072d5225e48fd23 100644
GIT binary patch
delta 239
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From 1ed564330d65223701dd430a581cf9e1f447afc9 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 20:46:32 +0100
Subject: [PATCH 090/133] (fix) moved autoware_restart to allow time for ROS
 callbacks to spin up

---
 srunner/autoagents/autoware_agent.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 81f4fb7..246c22b 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -59,7 +59,6 @@ def setup(self, config: EnvironmentConfig) -> None:
         self.carla_interface = InitializeInterface(self.config, self._node)
 
         self.state_node = state_node.StateNode(self.autoware_state, self._node_state)
-        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
 
         self.route_node = route_node.RouteNode(self.autoware_state, self._node_state)
         self.autoware_node = autoware_node.AutowareNode(
@@ -91,6 +90,8 @@ def setup(self, config: EnvironmentConfig) -> None:
         for thread in self._executor_threads:
             thread.start()
 
+        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
+
     def set_route(self) -> None:
         self.agent_set_route = True
 

From 01e4f7df4fa19d20e53e34c1a686f45e683c14ae Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 19:47:35 +0000
Subject: [PATCH 091/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 0b94008ad82b65118bf40bbba072d5225e48fd23..c2d679dae14876d29695102939b1cdbf22a5030f 100644
GIT binary patch
delta 267
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NaZ7ApoyZ-|1OU#FOQ-+<


From 449edcce9fc3dce7ef95a673f18963b4a1fb10e3 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 21:24:44 +0100
Subject: [PATCH 092/133] (fix) attempted fix for localistaion issue during
 init loop. Merged run_init() and run_step(), controlling initialisation via a
 flag.

---
 cawsr.py                             | 31 ++++++++++++---
 srunner/autoagents/autoware_agent.py | 59 +++++++++++-----------------
 2 files changed, 49 insertions(+), 41 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 00ec37f..315c596 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -226,16 +226,33 @@ def run_scenario(
         ego.prepare_ego(route[0][0])
 
         # allow the agent X ticks to initialize sensors and set the route
+        # uses the same tick pattern as the scenario_manager main loop
         logger.info("Initialising agent route...")
         budget = self._conf["initialisation_budget"]
-        status = False
         for tick in range(1, budget + 1):
-            self._tick_carla()
-            status = self.aw_agent.run_step_init()  # type: ignore
-        if not status:
-            logger.info("Agent failed to initialise route")
+            _tick_carla_start = time.perf_counter_ns() / 1e6
+            world = CarlaDataProvider.get_world()
+            if world:
+                world.tick()
+                for _ in range(5):
+                    time.sleep(0)
+            MetricsCollector.update_key(
+                "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
+            )
+            timestamp = None
+            if world:
+                snapshot = world.get_snapshot()
+                if snapshot:
+                    timestamp = snapshot.timestamp
+            if timestamp:
+                self.aw_agent._carla_timestamp = timestamp
+                GameTime.on_carla_tick(timestamp)
+                CarlaDataProvider.on_carla_tick()
+                self.aw_agent.run_step()
+            if self.aw_agent.autoware_state.route_set():
+                break
         else:
-            logger.info("Successfully initialised agent; route set.")
+            logger.info("Agent failed to initialise route")
 
         logger.info("Loading Traffic Manager...")
         tm_port = int(self._carla.TRAFFIC_MANAGER.PORT)  # type: ignore
@@ -259,6 +276,8 @@ def run_scenario(
 
         logger.info("Starting scenario...")
 
+        self.aw_agent.scenario_loaded = True
+
         try:
             self.carla_client.start_recorder(
                 "/home/carla/recordings/recording.log", True
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 246c22b..2100cf9 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -33,6 +33,7 @@
 class AutowareAgent(AutonomousAgent):
     timestamp = None
     agent_set_route = False
+    scenario_loaded = False
     counter = 0
     last_tick = time.perf_counter_ns()
 
@@ -60,11 +61,6 @@ def setup(self, config: EnvironmentConfig) -> None:
 
         self.state_node = state_node.StateNode(self.autoware_state, self._node_state)
 
-        self.route_node = route_node.RouteNode(self.autoware_state, self._node_state)
-        self.autoware_node = autoware_node.AutowareNode(
-            self.autoware_state, self._node_state
-        )
-
         try:
             # run state node and cawsr bridge in separate executors
             self._executors = [
@@ -82,16 +78,21 @@ def setup(self, config: EnvironmentConfig) -> None:
         except rclpy.executors.ExternalShutdownException:
             logger.info("Node Executor shutdown externally...")
 
-        self.sent_route = False
-
-        self.carla_interface.load_world()
-        self.carla_interface.run_bridge()
-
         for thread in self._executor_threads:
             thread.start()
 
         self.state_node.reset_autoware(self.config.town, self.config.ego_name)
 
+        self.route_node = route_node.RouteNode(self.autoware_state, self._node_state)
+        self.autoware_node = autoware_node.AutowareNode(
+            self.autoware_state, self._node_state
+        )
+
+        self.sent_route = False
+
+        self.carla_interface.load_world()
+        self.carla_interface.run_bridge()
+
     def set_route(self) -> None:
         self.agent_set_route = True
 
@@ -142,12 +143,15 @@ def destroy(self, cleanup=False) -> None:
         except RuntimeError:
             logger.info("Failed to clean up executor thread...")
 
-    def run_step_init(self) -> bool:
-        """Route Initialisation loop
+    def run_step(self) -> None:
+        """Tick method containing all logic based on autoware state"""
+        self.counter += 1
+        if self.counter % int(1 / self.tick_delta) == 0:
+            logger.info(
+                f"Ticked 1 second game-time, Current time: {GameTime.get_time():.2f}s, Current tick: {self.counter}. Ratio of 1s:{time.perf_counter_ns() - self.last_tick}s (Sim vs Wall)"
+            )
 
-        Ticks CARLA and Autoware, allowing the agent to localise and plan the route.
-        Operates on a fixed tick budget to ensure determinism. If the agent goes over the budget, it is treated as a failure.
-        """
+            self.last_tick = time.perf_counter_ns()
 
         self.carla_interface.tick_bridge(self._carla_timestamp)
 
@@ -172,24 +176,9 @@ def run_step_init(self) -> bool:
             self.route_node.publish_route(goal_pose, waypoints)
             self.sent_route = True
 
-        # check if the current route is set and we are able to send engage
-        if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
-            return True
-
-        return False
-
-    def run_step(self) -> None:
-        """Tick method containing all logic based on autoware state"""
-        self.counter += 1
-        if self.counter % int(1 / self.tick_delta) == 0:
-            logger.info(
-                f"Ticked 1 second game-time, Current time: {GameTime.get_time():.2f}s, Current tick: {self.counter}. Ratio of 1s:{time.perf_counter_ns() - self.last_tick}s (Sim vs Wall)"
-            )
-
-            self.last_tick = time.perf_counter_ns()
-
-        # check if the current route is set and we can publish engage
-        if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
+        if (
+            self.scenario_loaded
+            and self.autoware_state.route_set()
+            and not self.autoware_state.sent_engage
+        ):
             self.autoware_node.publish_engage(True)
-
-        self.carla_interface.tick_bridge(self._carla_timestamp)

From 310b58be5f23664866ff8d793c07f5f76a1ed8c1 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 20:26:54 +0000
Subject: [PATCH 093/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index c2d679dae14876d29695102939b1cdbf22a5030f..5890c30ed630ba9f044811ca14d29f5052fc1abb 100644
GIT binary patch
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From 1a04f67a43bd27b3ad9fc42b26aa89a7716be693 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 21:50:11 +0100
Subject: [PATCH 094/133] updated GNSS publish rate

---
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 08e0c26..c9152dd 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -84,7 +84,7 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
             "camera": 11,
             "imu": 50,
             "status": 50,
-            "pose": 2,
+            "pose": 20,
         }
 
         self.publish_prev_times = {

From 23dee74fb41397e63896e595ff3bc83ab14ed451 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 20:51:07 +0000
Subject: [PATCH 095/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 5890c30ed630ba9f044811ca14d29f5052fc1abb..dde93910e683da31b85cd8a2856ca916d332cad2 100644
GIT binary patch
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From 94a38d16157ea23c111c4352c77c3cafd9d1a750 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sat, 9 May 2026 22:23:13 +0100
Subject: [PATCH 096/133] (fix) revert stale sensor data check, testing if this
 could be the cause

---
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index c9152dd..2770393 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -531,16 +531,11 @@ def run_step(self, input_data, timestamp):
         obj_clock.clock = Time(sec=seconds, nanosec=nanoseconds)
         self.clock_publisher.publish(obj_clock)
 
-        _epsilon = 1e-6
-
-        # publish data of all sensors — skip entries whose timestamp is older
-        # than the current frame (stale cached data from persistent sensor cache)
+        # publish data of all sensors
         for key, data in input_data.items():
             sensor_type = self.id_to_sensor_type_map[key]
             sensor_timestamp = data[0]
             sensor_data = data[1]
-            if sensor_timestamp + _epsilon < self.timestamp:
-                continue
             if sensor_type == "sensor.camera.rgb":
                 self.camera(sensor_data, timestamp=sensor_timestamp)
             elif sensor_type == "sensor.other.gnss":

From 409263832db7eec09ab9e057dc3f98fef18b78ed Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 21:24:08 +0000
Subject: [PATCH 097/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index dde93910e683da31b85cd8a2856ca916d332cad2..f60a3a52db6afabf004cd49baa25b56ea429e562 100644
GIT binary patch
delta 267
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From 438ca4c0ed4f420ebb3eea244bf35729a69f7764 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 10 May 2026 00:12:24 +0100
Subject: [PATCH 098/133] (bug) added last_control variable to apply the last
 received control if autoware hasn't ticket yet

---
 srunner/autoagents/autoware_carla_interface/carla_ros.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/srunner/autoagents/autoware_carla_interface/carla_ros.py b/srunner/autoagents/autoware_carla_interface/carla_ros.py
index 2770393..c60c0f5 100644
--- a/srunner/autoagents/autoware_carla_interface/carla_ros.py
+++ b/srunner/autoagents/autoware_carla_interface/carla_ros.py
@@ -116,6 +116,7 @@ def __init__(self, node: rclpy.node.Node, config: EnvironmentConfig):
 
         self._control_queue = queue.Queue(1)
         self._control_queue.put_nowait((0, carla.VehicleControl()))
+        self._last_control = carla.VehicleControl()
 
         self.pub_pose_with_cov = self.ros2_node.create_publisher(
             PoseWithCovarianceStamped, "/sensing/gnss/pose_with_covariance", 1
@@ -452,6 +453,7 @@ def control_callback(self, in_cmd):
 
         try:
             self._control_queue.put_nowait((self.timestamp, out_cmd))
+            self._last_control = out_cmd
         except queue.Full:
             pass
 
@@ -551,8 +553,9 @@ def run_step(self, input_data, timestamp):
 
         try:
             _, control = self._control_queue.get_nowait()
+            self._last_control = control
         except queue.Empty:
-            control = carla.VehicleControl()
+            control = self._last_control
 
         return control
 

From f9dbed0e9abe532808763621f7b49de1b1496d57 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 23:13:25 +0000
Subject: [PATCH 099/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index f60a3a52db6afabf004cd49baa25b56ea429e562..1c3c0b9a6e7657b98da048eb151b9e3f3b9e455b 100644
GIT binary patch
delta 267
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N+!EVYCvt}~0RZS}Of3Ka


From 8b3f32c3c5d7ed3d3eee6f53763646fc1863deda Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 10 May 2026 00:32:24 +0100
Subject: [PATCH 100/133] added camera smoothing

---
 srunner/scenariomanager/scenario_manager.py | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
index 7006b1b..f23e991 100644
--- a/srunner/scenariomanager/scenario_manager.py
+++ b/srunner/scenariomanager/scenario_manager.py
@@ -112,6 +112,8 @@ def load_scenario(self, scenario, agent=None, follow_ego=False):
             self.world_cam = CarlaDataProvider.get_world().get_spectator()
             self._camera_offset = carla.Location(x=0, y=0, z=50)
             self._camera_pitch = -90.0  # degrees
+            self._smooth_cam_loc = None
+            self._smooth_cam_yaw = None
 
     def run_scenario(self):
         """
@@ -217,12 +219,24 @@ def _tick_scenario(self, timestamp):
     def _tick_spectator_cam(self, ego: carla.Actor) -> None:
         """Ticks the spectator camera for the chosen ego"""
         vehicle_transform = ego.get_transform()
-        delta_spec_loc = vehicle_transform.location + self._camera_offset
+        target_loc = vehicle_transform.location + self._camera_offset
+        target_yaw = vehicle_transform.rotation.yaw
+
+        smoothing = 0.3
+
+        if self._smooth_cam_loc is None:
+            self._smooth_cam_loc = target_loc
+            self._smooth_cam_yaw = target_yaw
+        else:
+            self._smooth_cam_loc.x += (target_loc.x - self._smooth_cam_loc.x) * smoothing
+            self._smooth_cam_loc.y += (target_loc.y - self._smooth_cam_loc.y) * smoothing
+            self._smooth_cam_loc.z += (target_loc.z - self._smooth_cam_loc.z) * smoothing
+            self._smooth_cam_yaw += (target_yaw - self._smooth_cam_yaw) * smoothing
 
         delta_spec_trans = carla.Transform(
-            delta_spec_loc,
+            self._smooth_cam_loc,
             carla.Rotation(
-                pitch=self._camera_pitch, yaw=vehicle_transform.rotation.yaw, roll=0
+                pitch=self._camera_pitch, yaw=self._smooth_cam_yaw, roll=0
             ),
         )
         self.world_cam.set_transform(delta_spec_trans)

From 48f14b55673057d89c61a3313a5b8cd6b76d5277 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sat, 9 May 2026 23:33:23 +0000
Subject: [PATCH 101/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 1c3c0b9a6e7657b98da048eb151b9e3f3b9e455b..ec8f18c9fc75cf0c937edd9ca36df8f63062c2ae 100644
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From d2b51391f8a3f8a79801bac39a9533b7470e4292 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Sun, 10 May 2026 01:12:10 +0100
Subject: [PATCH 102/133] made camera smoothing more aggressive

---
 srunner/scenariomanager/scenario_manager.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
index f23e991..643437e 100644
--- a/srunner/scenariomanager/scenario_manager.py
+++ b/srunner/scenariomanager/scenario_manager.py
@@ -222,7 +222,7 @@ def _tick_spectator_cam(self, ego: carla.Actor) -> None:
         target_loc = vehicle_transform.location + self._camera_offset
         target_yaw = vehicle_transform.rotation.yaw
 
-        smoothing = 0.3
+        smoothing = 0.1
 
         if self._smooth_cam_loc is None:
             self._smooth_cam_loc = target_loc
@@ -231,7 +231,8 @@ def _tick_spectator_cam(self, ego: carla.Actor) -> None:
             self._smooth_cam_loc.x += (target_loc.x - self._smooth_cam_loc.x) * smoothing
             self._smooth_cam_loc.y += (target_loc.y - self._smooth_cam_loc.y) * smoothing
             self._smooth_cam_loc.z += (target_loc.z - self._smooth_cam_loc.z) * smoothing
-            self._smooth_cam_yaw += (target_yaw - self._smooth_cam_yaw) * smoothing
+            dyaw = (target_yaw - self._smooth_cam_yaw + 180.0) % 360.0 - 180.0
+            self._smooth_cam_yaw = (self._smooth_cam_yaw + dyaw * smoothing) % 360.0
 
         delta_spec_trans = carla.Transform(
             self._smooth_cam_loc,

From 9465e5d6f8c564565d0f6a9b89ca65888bed8116 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Sun, 10 May 2026 00:13:05 +0000
Subject: [PATCH 103/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index ec8f18c9fc75cf0c937edd9ca36df8f63062c2ae..057bfd38ce3c74988c61ed0a9daa3fb04c578ffa 100644
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From 8a6570ff92fc8e2daf417e9bf8aab15e4d3419be Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Mon, 1 Jun 2026 18:50:56 +0100
Subject: [PATCH 104/133] added code to stop route-hanging and extended route
 timeouts

---
 cawsr.py                            | 83 +++++++++++++++++++++--------
 config.yaml                         |  1 +
 srunner/scenariomanager/timer.py    | 13 ++++-
 srunner/scenarios/route_scenario.py |  6 ++-
 srunner/tools/CARLA_manager.py      | 22 ++++++++
 5 files changed, 98 insertions(+), 27 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 315c596..cd44f90 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -229,30 +229,66 @@ def run_scenario(
         # uses the same tick pattern as the scenario_manager main loop
         logger.info("Initialising agent route...")
         budget = self._conf["initialisation_budget"]
-        for tick in range(1, budget + 1):
-            _tick_carla_start = time.perf_counter_ns() / 1e6
-            world = CarlaDataProvider.get_world()
-            if world:
-                world.tick()
-                for _ in range(5):
-                    time.sleep(0)
-            MetricsCollector.update_key(
-                "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
-            )
-            timestamp = None
-            if world:
-                snapshot = world.get_snapshot()
-                if snapshot:
-                    timestamp = snapshot.timestamp
-            if timestamp:
-                self.aw_agent._carla_timestamp = timestamp
-                GameTime.on_carla_tick(timestamp)
-                CarlaDataProvider.on_carla_tick()
-                self.aw_agent.run_step()
-            if self.aw_agent.autoware_state.route_set():
+        max_route_attempts = 3
+        route_ready = False
+
+        for attempt in range(1, max_route_attempts + 1):
+            if attempt > 1:
+                logger.info(
+                    f"Retrying agent route setup ({attempt}/{max_route_attempts})"
+                )
+                self.aw_agent.agent_set_route = False
+                self.aw_agent.sent_route = False
+                self.aw_agent.autoware_state.sent_route = False
+                self.aw_agent.route_node.request_clear_route()
+
+            for tick in range(1, budget + 1):
+                _tick_carla_start = time.perf_counter_ns() / 1e6
+                world = CarlaDataProvider.get_world()
+                if world:
+                    world.tick()
+                    for _ in range(5):
+                        time.sleep(0)
+                MetricsCollector.update_key(
+                    "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
+                )
+                timestamp = None
+                if world:
+                    snapshot = world.get_snapshot()
+                    if snapshot:
+                        timestamp = snapshot.timestamp
+                if timestamp:
+                    self.aw_agent._carla_timestamp = timestamp
+                    GameTime.on_carla_tick(timestamp)
+                    CarlaDataProvider.on_carla_tick()
+                    self.aw_agent.run_step()
+                if self.aw_agent.autoware_state.route_set():
+                    route_ready = True
+                    break
+
+            if route_ready:
                 break
-        else:
-            logger.info("Agent failed to initialise route")
+
+            logger.info(f"Agent failed to initialise route on attempt {attempt}")
+
+        if not route_ready:
+            logger.error(
+                "Agent failed to initialise route after 3 attempts; skipping scenario."
+            )
+            result_dict = result_.get()
+            result_dict["status"] = False
+            result_dict["driving_score"] = 0.0
+
+            if algorithm_mode:
+                algorithm._update_generator(seed)  # type: ignore
+                definition = algorithm._scenario_callback(  # type: ignore
+                    current_definiton, 0.0
+                )
+                result_dict["definition"] = definition
+
+            result_.put(result_dict)
+            MetricsCollector.reset()
+            return
 
         logger.info("Loading Traffic Manager...")
         tm_port = int(self._carla.TRAFFIC_MANAGER.PORT)  # type: ignore
@@ -267,6 +303,7 @@ def run_scenario(
                 world=self.carla_world,
                 config=route_config,
                 debug_mode=self.DEBUG,
+                timeout=self._conf.get("route_timeout", None),
                 ego_vehicle=ego._actor,
                 route=route,
             )
diff --git a/config.yaml b/config.yaml
index 0d06a3d..114f382 100644
--- a/config.yaml
+++ b/config.yaml
@@ -12,6 +12,7 @@ cawsr:
       #active: true # part of scenario definition
 
   initialisation_budget: 500 # ticks
+  route_timeout: 300 # seconds
   agent: srunner/autoagents/autoware_agent
   mode: 'benchmark' # benchmark or algorithm
 
diff --git a/srunner/scenariomanager/timer.py b/srunner/scenariomanager/timer.py
index 386cdf5..cb89cb6 100644
--- a/srunner/scenariomanager/timer.py
+++ b/srunner/scenariomanager/timer.py
@@ -169,7 +169,14 @@ class RouteTimeoutBehavior(py_trees.behaviour.Behaviour):
     MIN_TIMEOUT = 300
     TIMEOUT_ROUTE_PERC = 10
 
-    def __init__(self, ego_vehicle, route, debug=False, name="RouteTimeoutBehavior"):
+    def __init__(
+        self,
+        ego_vehicle,
+        route,
+        min_timeout=None,
+        debug=False,
+        name="RouteTimeoutBehavior",
+    ):
         """
         Setup timeout
         """
@@ -180,7 +187,9 @@ def __init__(self, ego_vehicle, route, debug=False, name="RouteTimeoutBehavior")
         self._debug = debug
 
         self._start_time = None
-        self._timeout_value = self.MIN_TIMEOUT
+        self._timeout_value = (
+            self.MIN_TIMEOUT if min_timeout is None else float(min_timeout)
+        )
         self.timeout = False
 
         # Route variables
diff --git a/srunner/scenarios/route_scenario.py b/srunner/scenarios/route_scenario.py
index 8c9fc65..c8cf63e 100644
--- a/srunner/scenarios/route_scenario.py
+++ b/srunner/scenarios/route_scenario.py
@@ -86,7 +86,7 @@ def __init__(
         if not ego_vehicle:
             ego_vehicle = self._spawn_ego_vehicle()
 
-        self.timeout = self._estimate_route_timeout()
+        self.timeout = timeout or self._estimate_route_timeout()
 
         if debug_mode:
             self._draw_waypoints(
@@ -455,7 +455,9 @@ def _create_timeout_behavior(self):
         """
         Create the timeout behavior
         """
-        return RouteTimeoutBehavior(self.ego_vehicles[0], self.route)
+        return RouteTimeoutBehavior(
+            self.ego_vehicles[0], self.route, min_timeout=self.timeout
+        )
 
     def _initialize_environment(self, world):
         """
diff --git a/srunner/tools/CARLA_manager.py b/srunner/tools/CARLA_manager.py
index aae9d91..1d361a1 100644
--- a/srunner/tools/CARLA_manager.py
+++ b/srunner/tools/CARLA_manager.py
@@ -140,3 +140,25 @@ def restart_carla():
             CARLAManager.container_id = result.stdout.strip()
         else:
             CARLAManager.start_carla()
+
+    @staticmethod
+    def fix_recording_permissions():
+        """Fix permissions on recording files created by the root CARLA container
+        so they are readable by the non-root CAWSR user (UID 1000).
+        Runs chmod inside the CARLA container via docker exec.
+        """
+        if CARLAManager.container_id:
+            env = os.environ.copy()
+            result = subprocess.run(
+                f"docker exec {CARLAManager.container_id} chmod -R 777 /home/carla/recordings",
+                shell=True,
+                text=True,
+                capture_output=True,
+                env=env,
+            )
+            if result.returncode == 0:
+                logger.info("Fixed recording permissions inside CARLA container")
+            else:
+                logger.error(
+                    f"Failed to fix recording permissions: {result.stderr.strip()}"
+                )

From 533ec7df855c9fce58ad4bbcad0f2cc47640b612 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Mon, 1 Jun 2026 17:52:27 +0000
Subject: [PATCH 105/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
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From 9a1546b15bc6e3c7fd37779d762c5f1384dd44e2 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 11:26:32 +0100
Subject: [PATCH 106/133] refactored current error handling and added a
 switched to a more robust method of launching CARLA

---
 cawsr.py                       | 140 +++++++++++++++++++--------------
 srunner/tools/CARLA_manager.py |  37 ++++++---
 2 files changed, 104 insertions(+), 73 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index cd44f90..96766dd 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -331,34 +331,41 @@ def run_scenario(
                 "Could not load scenario. Please check if the agent class is loading correctly."
             )
             result = False
-
-        self.carla_client.stop_recorder()
+        finally:
+            self.carla_client.stop_recorder()
 
         # stop the MetricsCollector thread
         MetricsCollector.reset()
 
-        # analyse the scenario
-        criteria = self._output_criteria(
-            self.scenario_manager.scenario.get_criteria(),  # type: ignore
-            f"{self.results_manager.last_scenario}/{scenario_name}.json",
-        )
-        logger.info("Calculating driving score...")
-        driving_score = self._calculate_driving_score(criteria)
+        try:
+            # analyse the scenario, throws exception if scenario didn't finish
+            criteria = self._output_criteria(
+                self.scenario_manager.scenario.get_criteria(),  # type: ignore
+                f"{self.results_manager.last_scenario}/{scenario_name}.json",
+            )
+            logger.info("Calculating driving score...")
+
+            result_dict = result_.get()
+            result_dict["driving_score"] = self._calculate_driving_score(criteria)
+            result_dict["status"] = result
 
-        result_dict = result_.get()
-        result_dict["status"] = result
-        result_dict["driving_score"] = driving_score
+        except Exception:
+            logger.info("Something went wrong, retrying scenario...")
 
         # read the scenario definition
         if algorithm_mode:
             algorithm._update_generator(seed)  # type: ignore
 
-            definition = algorithm._scenario_callback(  # type: ignore
-                current_definiton, driving_score
-            )
-            result_dict["definition"] = definition
-
-        result_.put(result_dict)
+            try:
+                definition = algorithm._scenario_callback(  # type: ignore
+                    current_definiton, result_dict["driving_score"]
+                )
+                result_dict["definition"] = definition
+                result_.put(result_dict)
+            except Exception:
+                logger.error(
+                    "Something went wrong while processing algorithm callback; is CARLA alive?"
+                )
 
     def _tick_carla(self) -> None:
         """Advances CARLA 1 tick into the future"""
@@ -431,7 +438,7 @@ def run_algorithm(self) -> None:
                 0
             ]  # route id. Multiple routes currently aren't supported, so use first route
 
-            json_definition = self._cawsr_process(
+            result = self._cawsr_process(
                 route_config=route_config,
                 env_config=env_config,
                 scenario_name=scenario.stem,
@@ -442,7 +449,7 @@ def run_algorithm(self) -> None:
             )
 
             self.results_manager.parse_json(
-                json_definition,  # type: ignore
+                result["definition"],  # type: ignore
                 scenario.stem,
                 str(i),
                 save_def=True,
@@ -455,42 +462,56 @@ def run_benchmark(self) -> None:
 
         runs = len(scenarios)
         for i in range(0, runs):
-            logger.info(f"Running scenario {i + 1}/{runs}")
+            retry_attempts = 2
+            attempts = 0
+
+            while attempts < retry_attempts:
+                logger.info(f"Running scenario {i + 1}/{runs}")
+
+                if self._conf["benchmark"]["random_sampling"]:
+                    scenario = random.choice(scenarios)
+                    scenarios.remove(
+                        scenario
+                    )  # each scenario can only be executed once
+                else:
+                    scenario = scenarios[i]
+
+                self._load_scenario(
+                    scenario_name=scenario.stem,
+                    path=str(scenario.absolute()),
+                    run=i,
+                    save_def=True,
+                )
 
-            if self._conf["benchmark"]["random_sampling"]:
-                scenario = random.choice(scenarios)
-                scenarios.remove(scenario)  # each scenario can only be executed once
-            else:
-                scenario = scenarios[i]
+                CARLAManager._set_recording_dir(self.results_manager.recording_path)
+                logger.info("Starting CARLA container....")
+                CARLAManager.restart_carla()
+                time.sleep(10)  # allow CARLA to load
 
-            self._load_scenario(
-                scenario_name=scenario.stem,
-                path=str(scenario.absolute()),
-                run=i,
-                save_def=True,
-            )
-
-            CARLAManager._set_recording_dir(self.results_manager.recording_path)
-            logger.info("Starting CARLA container....")
-            CARLAManager.restart_carla()
-            time.sleep(10)  # allow CARLA to load
-
-            env_config = EnvironmentParser.parse_scenario_env(
-                self.results_manager.fetch_scenario_xml()
-            )
-            route_config = RouteParser.parse_routes_file(
-                self.results_manager.last_scenario, env_config
-            )[
-                0
-            ]  # route id. Multiple routes currently aren't supported, so use first route
+                env_config = EnvironmentParser.parse_scenario_env(
+                    self.results_manager.fetch_scenario_xml()
+                )
+                route_config = RouteParser.parse_routes_file(
+                    self.results_manager.last_scenario, env_config
+                )[
+                    0
+                ]  # route id. Multiple routes currently aren't supported, so use first route
+
+                result = self._cawsr_process(
+                    route_config=route_config,
+                    env_config=env_config,
+                    scenario_name=scenario.stem,
+                    run=i + 1,
+                    algorithm_mode=False,
+                )
 
-            self._cawsr_process(
-                route_config=route_config,
-                env_config=env_config,
-                scenario_name=scenario.stem,
-                run=i + 1,
-                algorithm_mode=False,
-            )
+                # scenario failed, run it again.
+                if not result["status"] and result["driving_score"] is None:
+                    attempts += 1
+                else:
+                    attempts = (
+                        retry_attempts  # successful execution, move onto the next
+                    )
 
     def _cawsr_process(
         self,
@@ -501,7 +522,7 @@ def _cawsr_process(
         algorithm_mode: bool = False,
         current_definiton: Union[dict, None] = None,
         algorithm: Union[Callable, None] = None,
-    ) -> Optional[dict]:
+    ) -> dict:
         """Spawns a CAWSR process to execute a given, configured scenario.
         Handles setup, execution, and teardown of the scenario, and returns the scenario definition if in algorithm mode for use in the next iteration of the algorithm.
 
@@ -518,7 +539,7 @@ def _cawsr_process(
             Optional[dict]: The updated scenario definition if in algorithm mode, otherwise None.
         """
         scenario_result = multiprocessing.Queue()
-        scenario_result.put({"status": False, "criteria": {}})
+        scenario_result.put({"status": None, "driving_score": None, "criteria": {}})
 
         if algorithm_mode:
             seed = self._rng.integers(
@@ -555,18 +576,17 @@ def _cawsr_process(
 
         time.sleep(1)
 
+        # if the process exits (CARLA crash for example), these are none
         # fetch execution status of the scenario (failure or success)
-        status = result["status"]
-        driving_score = result["driving_score"]
+        status = result.get(["status"], None)
+        driving_score = result.get(["driving_score"], None)
 
         logger.info(f"Scenario iteration {run} achieved a score of {driving_score}")
         logger.info(
             f"Scenario iteration {run} ended with status {'SUCCESS' if status else 'FAILURE'}"
         )
 
-        # return new scenario definition if in alg mode
-        if algorithm_mode:
-            return result["definition"]
+        return result
 
     def _load_scenario(
         self,
diff --git a/srunner/tools/CARLA_manager.py b/srunner/tools/CARLA_manager.py
index 1d361a1..4eba141 100644
--- a/srunner/tools/CARLA_manager.py
+++ b/srunner/tools/CARLA_manager.py
@@ -20,6 +20,11 @@ class CARLAManager(object):
     container_id = None
     port = 2000  # default
     fidelity = "Low"  # default
+
+    # tracks if CARLA process is alive
+    CARLA_STATE = None
+    CARLA_PID = None
+
     recording_dir = ""
     run_command = [
         f"docker run -dt --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v {recording_dir}:/home/carla/recordings:rw -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=all -e XDG_RUNTIME_DIR=/tmp ghcr.io/intelligent-testing-lab/carla:0.9.15 ./CarlaUE4.sh -carla-rpc-port=2000 -quality-level=Low"
@@ -44,9 +49,10 @@ def _set_recording_dir(recording_dir: str) -> None:
 
     @staticmethod
     def start_carla():
-        # need a way to verify CARLA has launched
+        # need a way to verify CARLA has launched already
         if CARLAManager.container_id is None:
             env = os.environ.copy()
+
             result = subprocess.run(
                 CARLAManager.run_command,
                 shell=True,
@@ -78,6 +84,20 @@ def stop_carla():
                 f"Killed CARLA container {CARLAManager.container_id} with exit code {result.returncode}"
             )
             logger.info(f"Kill stdout: {result.stdout.strip()}")
+
+            # remove the container
+            result = subprocess.run(
+                f"docker container rm {CARLAManager.container_id}",
+                shell=True,
+                text=True,
+                capture_output=True,
+                env=env,
+            )
+            logger.info(
+                f"Cleaned up CARLA container {CARLAManager.container_id} with exit code {result.returncode}"
+            )
+            logger.info(f"Cleanup stdout: {result.stdout.strip()}")
+
             CARLAManager.container_id = None
 
     @staticmethod
@@ -126,18 +146,9 @@ def fetch_file(path: str, dest: str):
     @staticmethod
     def restart_carla():
         if CARLAManager.container_id is not None:
-            env = os.environ.copy()
-            result = subprocess.run(
-                f"docker container restart {CARLAManager.container_id}",
-                shell=True,
-                text=True,
-                capture_output=True,
-                env=env,
-            )
-            logger.info(
-                f"Restarted CARLA container {CARLAManager.container_id} with exit code {result.returncode}"
-            )
-            CARLAManager.container_id = result.stdout.strip()
+            # stop existing CARLA container and create a new one
+            CARLAManager.stop_carla()
+            CARLAManager.start_carla()
         else:
             CARLAManager.start_carla()
 

From 83bf7d239a039334332560ce777ad29297bc35b6 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 10:29:40 +0000
Subject: [PATCH 107/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 402bafbc74a77ef94c1e0a37d3690766d5bf954a..b47c7d10cc27ed73c4f5e2bdcce19243938b49a9 100644
GIT binary patch
delta 281
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P^g2FniS4Tsxx<+Nea23Q


From 6533a9cee4d755927edeb3bd510f4998d6b98df9 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 11:59:02 +0100
Subject: [PATCH 108/133] added additional log statements

---
 cawsr.py | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 96766dd..e43f16a 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -345,9 +345,12 @@ def run_scenario(
             )
             logger.info("Calculating driving score...")
 
+            driving_score = self._calculate_driving_score(criteria)
+
             result_dict = result_.get()
-            result_dict["driving_score"] = self._calculate_driving_score(criteria)
+            result_dict["driving_score"] = driving_score
             result_dict["status"] = result
+            logger.info("Processed driving score...")
 
         except Exception:
             logger.info("Something went wrong, retrying scenario...")
@@ -509,9 +512,8 @@ def run_benchmark(self) -> None:
                 if not result["status"] and result["driving_score"] is None:
                     attempts += 1
                 else:
-                    attempts = (
-                        retry_attempts  # successful execution, move onto the next
-                    )
+                    # successful execution, move onto the next
+                    break
 
     def _cawsr_process(
         self,
@@ -567,6 +569,7 @@ def _cawsr_process(
         scenario_process.start()
         scenario_process.join()
 
+        logger.info("Extracting results...")
         # fetch result and clean up
         result = scenario_result.get()
 

From edeca6cc06b7cce825eabcbd9e71c06fd3dc7b87 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 10:59:57 +0000
Subject: [PATCH 109/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index b47c7d10cc27ed73c4f5e2bdcce19243938b49a9..9e1ae41ab890c1b4c9312485881e07693d69a789 100644
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From 1390d86100e4c09d38dda6479bec09132145ea4e Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 12:25:32 +0100
Subject: [PATCH 110/133] fixed bug with retry not being triggerd on CARLA
 crash

---
 cawsr.py | 42 ++++++++++++++++++++----------------------
 1 file changed, 20 insertions(+), 22 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index e43f16a..92b9340 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -277,7 +277,7 @@ def run_scenario(
             )
             result_dict = result_.get()
             result_dict["status"] = False
-            result_dict["driving_score"] = 0.0
+            result_dict["driving_score"] = None
 
             if algorithm_mode:
                 algorithm._update_generator(seed)  # type: ignore
@@ -337,38 +337,36 @@ def run_scenario(
         # stop the MetricsCollector thread
         MetricsCollector.reset()
 
+        # Safe fallback defined before the try block
+        result_dict = {"status": False, "driving_score": None}
+
         try:
-            # analyse the scenario, throws exception if scenario didn't finish
             criteria = self._output_criteria(
-                self.scenario_manager.scenario.get_criteria(),  # type: ignore
+                self.scenario_manager.scenario.get_criteria(),
                 f"{self.results_manager.last_scenario}/{scenario_name}.json",
             )
             logger.info("Calculating driving score...")
-
             driving_score = self._calculate_driving_score(criteria)
-
             result_dict = result_.get()
             result_dict["driving_score"] = driving_score
             result_dict["status"] = result
             logger.info("Processed driving score...")
+            if algorithm_mode:
+                algorithm._update_generator(seed)  # type: ignore
 
+                try:
+                    definition = algorithm._scenario_callback(  # type: ignore
+                        current_definiton, result_dict["driving_score"]
+                    )
+                    result_dict["definition"] = definition
+                except Exception:
+                    logger.error(
+                        "Something went wrong while processing algorithm callback; is CARLA alive?"
+                    )
         except Exception:
             logger.info("Something went wrong, retrying scenario...")
-
-        # read the scenario definition
-        if algorithm_mode:
-            algorithm._update_generator(seed)  # type: ignore
-
-            try:
-                definition = algorithm._scenario_callback(  # type: ignore
-                    current_definiton, result_dict["driving_score"]
-                )
-                result_dict["definition"] = definition
-                result_.put(result_dict)
-            except Exception:
-                logger.error(
-                    "Something went wrong while processing algorithm callback; is CARLA alive?"
-                )
+        finally:
+            result_.put(result_dict)
 
     def _tick_carla(self) -> None:
         """Advances CARLA 1 tick into the future"""
@@ -581,8 +579,8 @@ def _cawsr_process(
 
         # if the process exits (CARLA crash for example), these are none
         # fetch execution status of the scenario (failure or success)
-        status = result.get(["status"], None)
-        driving_score = result.get(["driving_score"], None)
+        status = result.get("status", None)
+        driving_score = result.get("driving_score", None)
 
         logger.info(f"Scenario iteration {run} achieved a score of {driving_score}")
         logger.info(

From c8a185dafabe5d7794e73837e940768b7406e470 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 11:26:24 +0000
Subject: [PATCH 111/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 9e1ae41ab890c1b4c9312485881e07693d69a789..e3faf9e6525e8092c8e5a97d57938f49871ca407 100644
GIT binary patch
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From 87fe7c5b124ec0db2bfe68ca57c331f1cac098fc Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 12:41:48 +0100
Subject: [PATCH 112/133] bug fixes

---
 cawsr.py | 391 +++++++++++++++++++++++++++++--------------------------
 1 file changed, 205 insertions(+), 186 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 92b9340..2258b62 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -18,6 +18,7 @@
 import json
 
 import multiprocessing
+import multiprocessing.queues
 
 import carla
 
@@ -136,224 +137,221 @@ def run_scenario(
             current_definiton (Union[dict, None]): Optional dict containing the current scenario definition, used for algorithmic scenario generation
             algorithm (Union[Callable, None]): Optional Callable algorithm class, used for algorithmic scenario generation. See docs for expected interface.
         """
-        logger.info("Initialising Scenario Manager...")
-        self.scenario_manager = ScenarioManager(
-            self.DEBUG,
-            self._carla.SYNC,
-            self._carla.TIMEOUT,
-        )
-
-        logger.info("Starting the MetricsCollector thread...")
+        # Safe fallback — always defined so the finally block can always put something on the queue
+        result_dict = {"status": False, "driving_score": None}
 
-        MetricsCollector.init_state(
-            metrics_collected,
-            os.path.join(self.results_manager.last_scenario, "execution_time.txt"),
-            include=False,
-        )
+        try:
+            logger.info("Initialising Scenario Manager...")
+            self.scenario_manager = ScenarioManager(
+                self.DEBUG,
+                self._carla.SYNC,
+                self._carla.TIMEOUT,
+            )
 
-        logger.info("Connecting to client...")
-        self.carla_client = carla.Client(self._carla.HOST, self._carla.PORT)
-        self.carla_client.set_timeout(self._carla.TIMEOUT)
-        CarlaDataProvider.set_client(self.carla_client)
+            logger.info("Starting the MetricsCollector thread...")
 
-        logger.info("Fetching current world...")
+            MetricsCollector.init_state(
+                metrics_collected,
+                os.path.join(self.results_manager.last_scenario, "execution_time.txt"),
+                include=False,
+            )
 
-        self.carla_world = self.carla_client.get_world()
-        logger.info("Updating map...")
-        self.carla_client.load_world(env_config.town)
+            logger.info("Connecting to client...")
+            self.carla_client = carla.Client(self._carla.HOST, self._carla.PORT)
+            self.carla_client.set_timeout(self._carla.TIMEOUT)
+            CarlaDataProvider.set_client(self.carla_client)
 
-        logger.info("Updating world settings:")
+            logger.info("Fetching current world...")
 
-        # tick asynchronously until then
-        settings = self.carla_world.get_settings()
-        settings.synchronous_mode = True
-        settings.fixed_delta_seconds = self._carla.FIXED_DELTA_SECONDS
-        self.carla_world.apply_settings(settings)
+            self.carla_world = self.carla_client.get_world()
+            logger.info("Updating map...")
+            self.carla_client.load_world(env_config.town)
 
-        logger.info(f"{settings.__str__()}")
+            logger.info("Updating world settings:")
 
-        logger.info("Restarting GameTime...")
-        GameTime.restart()
+            # tick asynchronously until then
+            settings = self.carla_world.get_settings()
+            settings.synchronous_mode = True
+            settings.fixed_delta_seconds = self._carla.FIXED_DELTA_SECONDS
+            self.carla_world.apply_settings(settings)
 
-        # update the world
-        CarlaDataProvider.set_world(self.carla_world)
+            logger.info(f"{settings.__str__()}")
 
-        # attempt to spawn the ego 3 times for redundancy
-        max_attempts = 3
-        for attempt in range(max_attempts):
-            try:
-                logger.info("Spawning ego...")
-                ego = EgoVehicle(env_config)
-                actor = ego.spawn()
-                self.ego_vehicles.append(actor)
-                logger.info(f"Spawned ego with id: {actor.id}")
-                break  # exit loop if successful
-            except Exception as e:
-                logger.error(f"Failed to spawn ego on attempt {attempt + 1}: {e}")
-                if attempt == max_attempts - 1:
-                    logger.error(
-                        "Failed to spawn ego: Terminating scenario. This is most likely an issue with CARLA"
-                    )
-                    raise
-                time.sleep(2)
+            logger.info("Restarting GameTime...")
+            GameTime.restart()
 
-        # client must tick to spawn actors
-        self._tick_carla()
+            # update the world
+            CarlaDataProvider.set_world(self.carla_world)
 
-        logger.info("Initialising Autoware...")
-        agent_class_name = self.module_aw_agent.__name__.title().replace("_", "")
-        try:
-            logger.info(getattr(self.module_aw_agent, agent_class_name))
-            self.aw_agent = getattr(self.module_aw_agent, agent_class_name)(
-                env_config
-            )  # agent init function
-            route_config.agent = self.aw_agent
-        except Exception as e:  # Forces the simulation to run synchronously # pylint: disable=broad-except
-            logger.error("Could not setup required agent due to {}".format(e))
-            self._cleanup()
-            result = False
-            return
-
-        logger.info("Loading route...")
-
-        gps_route, route = route_manipulation.interpolate_trajectory(
-            route_config.keypoints
-        )
-        route_config.agent.set_global_plan(gps_route, route)  # set agent route
+            # attempt to spawn the ego 3 times for redundancy
+            max_attempts = 3
+            for attempt in range(max_attempts):
+                try:
+                    logger.info("Spawning ego...")
+                    ego = EgoVehicle(env_config)
+                    actor = ego.spawn()
+                    self.ego_vehicles.append(actor)
+                    logger.info(f"Spawned ego with id: {actor.id}")
+                    break  # exit loop if successful
+                except Exception as e:
+                    logger.error(f"Failed to spawn ego on attempt {attempt + 1}: {e}")
+                    if attempt == max_attempts - 1:
+                        logger.error(
+                            "Failed to spawn ego: Terminating scenario. This is most likely an issue with CARLA"
+                        )
+                        raise
+                    time.sleep(2)
+
+            # client must tick to spawn actors
+            self._tick_carla()
+
+            logger.info("Initialising Autoware...")
+            agent_class_name = self.module_aw_agent.__name__.title().replace("_", "")
+            try:
+                logger.info(getattr(self.module_aw_agent, agent_class_name))
+                self.aw_agent = getattr(self.module_aw_agent, agent_class_name)(
+                    env_config
+                )  # agent init function
+                route_config.agent = self.aw_agent
+            except Exception as e:  # Forces the simulation to run synchronously # pylint: disable=broad-except
+                logger.error("Could not setup required agent due to {}".format(e))
+                self._cleanup()
+                return  # result_dict fallback will be put by finally
+
+            logger.info("Loading route...")
+
+            gps_route, route = route_manipulation.interpolate_trajectory(
+                route_config.keypoints
+            )
+            route_config.agent.set_global_plan(gps_route, route)  # set agent route
 
-        # visualise the route in CARLA and set location to first waypoint
-        visualise_route([waypoint[0] for waypoint in route])
-        ego.prepare_ego(route[0][0])
+            # visualise the route in CARLA and set location to first waypoint
+            visualise_route([waypoint[0] for waypoint in route])
+            ego.prepare_ego(route[0][0])
 
-        # allow the agent X ticks to initialize sensors and set the route
-        # uses the same tick pattern as the scenario_manager main loop
-        logger.info("Initialising agent route...")
-        budget = self._conf["initialisation_budget"]
-        max_route_attempts = 3
-        route_ready = False
+            # allow the agent X ticks to initialize sensors and set the route
+            # uses the same tick pattern as the scenario_manager main loop
+            logger.info("Initialising agent route...")
+            budget = self._conf["initialisation_budget"]
+            max_route_attempts = 3
+            route_ready = False
 
-        for attempt in range(1, max_route_attempts + 1):
-            if attempt > 1:
-                logger.info(
-                    f"Retrying agent route setup ({attempt}/{max_route_attempts})"
-                )
-                self.aw_agent.agent_set_route = False
-                self.aw_agent.sent_route = False
-                self.aw_agent.autoware_state.sent_route = False
-                self.aw_agent.route_node.request_clear_route()
-
-            for tick in range(1, budget + 1):
-                _tick_carla_start = time.perf_counter_ns() / 1e6
-                world = CarlaDataProvider.get_world()
-                if world:
-                    world.tick()
-                    for _ in range(5):
-                        time.sleep(0)
-                MetricsCollector.update_key(
-                    "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
-                )
-                timestamp = None
-                if world:
-                    snapshot = world.get_snapshot()
-                    if snapshot:
-                        timestamp = snapshot.timestamp
-                if timestamp:
-                    self.aw_agent._carla_timestamp = timestamp
-                    GameTime.on_carla_tick(timestamp)
-                    CarlaDataProvider.on_carla_tick()
-                    self.aw_agent.run_step()
-                if self.aw_agent.autoware_state.route_set():
-                    route_ready = True
+            for attempt in range(1, max_route_attempts + 1):
+                if attempt > 1:
+                    logger.info(
+                        f"Retrying agent route setup ({attempt}/{max_route_attempts})"
+                    )
+                    self.aw_agent.agent_set_route = False
+                    self.aw_agent.sent_route = False
+                    self.aw_agent.autoware_state.sent_route = False
+                    self.aw_agent.route_node.request_clear_route()
+
+                for tick in range(1, budget + 1):
+                    _tick_carla_start = time.perf_counter_ns() / 1e6
+                    world = CarlaDataProvider.get_world()
+                    if world:
+                        world.tick()
+                        for _ in range(5):
+                            time.sleep(0)
+                    MetricsCollector.update_key(
+                        "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
+                    )
+                    timestamp = None
+                    if world:
+                        snapshot = world.get_snapshot()
+                        if snapshot:
+                            timestamp = snapshot.timestamp
+                    if timestamp:
+                        self.aw_agent._carla_timestamp = timestamp
+                        GameTime.on_carla_tick(timestamp)
+                        CarlaDataProvider.on_carla_tick()
+                        self.aw_agent.run_step()
+                    if self.aw_agent.autoware_state.route_set():
+                        route_ready = True
+                        break
+
+                if route_ready:
                     break
 
-            if route_ready:
-                break
-
-            logger.info(f"Agent failed to initialise route on attempt {attempt}")
+                logger.info(f"Agent failed to initialise route on attempt {attempt}")
 
-        if not route_ready:
-            logger.error(
-                "Agent failed to initialise route after 3 attempts; skipping scenario."
-            )
-            result_dict = result_.get()
-            result_dict["status"] = False
-            result_dict["driving_score"] = None
-
-            if algorithm_mode:
-                algorithm._update_generator(seed)  # type: ignore
-                definition = algorithm._scenario_callback(  # type: ignore
-                    current_definiton, 0.0
+            if not route_ready:
+                logger.error(
+                    "Agent failed to initialise route after 3 attempts; skipping scenario."
                 )
-                result_dict["definition"] = definition
+                result_dict["status"] = False
+                result_dict["driving_score"] = None
 
-            result_.put(result_dict)
-            MetricsCollector.reset()
-            return
+                if algorithm_mode:
+                    algorithm._update_generator(seed)  # type: ignore
+                    definition = algorithm._scenario_callback(  # type: ignore
+                        current_definiton, 0.0
+                    )
+                    result_dict["definition"] = definition
 
-        logger.info("Loading Traffic Manager...")
-        tm_port = int(self._carla.TRAFFIC_MANAGER.PORT)  # type: ignore
-        CarlaDataProvider.set_traffic_manager_port(tm_port)
-        tm = self.carla_client.get_trafficmanager(tm_port)
+                MetricsCollector.reset()
+                return  # finally handles the put
 
-        tm.set_random_device_seed(int(self._carla.TRAFFIC_MANAGER.SEED))
-        tm.set_synchronous_mode(self._carla.SYNC)
+            logger.info("Loading Traffic Manager...")
+            tm_port = int(self._carla.TRAFFIC_MANAGER.PORT)  # type: ignore
+            CarlaDataProvider.set_traffic_manager_port(tm_port)
+            tm = self.carla_client.get_trafficmanager(tm_port)
 
-        try:
-            scenario = RouteScenario(
-                world=self.carla_world,
-                config=route_config,
-                debug_mode=self.DEBUG,
-                timeout=self._conf.get("route_timeout", None),
-                ego_vehicle=ego._actor,
-                route=route,
-            )
-        except Exception:
-            logger.info("Could not load Route Scenario")
-            traceback.print_exc()
+            tm.set_random_device_seed(int(self._carla.TRAFFIC_MANAGER.SEED))
+            tm.set_synchronous_mode(self._carla.SYNC)
 
-        logger.info("Starting scenario...")
+            try:
+                scenario = RouteScenario(
+                    world=self.carla_world,
+                    config=route_config,
+                    debug_mode=self.DEBUG,
+                    timeout=self._conf.get("route_timeout", None),
+                    ego_vehicle=ego._actor,
+                    route=route,
+                )
+            except Exception:
+                logger.error("Could not load Route Scenario")
+                traceback.print_exc()
+                raise  # scenario is unbound; propagate to outer except so finally puts the fallback result_dict
 
-        self.aw_agent.scenario_loaded = True
+            logger.info("Starting scenario...")
 
-        try:
-            self.carla_client.start_recorder(
-                "/home/carla/recordings/recording.log", True
-            )
-            self.scenario_manager.load_scenario(
-                scenario, self.aw_agent, follow_ego=True
-            )
+            self.aw_agent.scenario_loaded = True
 
-            self.scenario_manager.run_scenario()
-            result = True
-        except Exception:
-            traceback.print_exc()
-            logger.info(
-                "Could not load scenario. Please check if the agent class is loading correctly."
-            )
-            result = False
-        finally:
-            self.carla_client.stop_recorder()
+            try:
+                self.carla_client.start_recorder(
+                    "/home/carla/recordings/recording.log", True
+                )
+                self.scenario_manager.load_scenario(
+                    scenario, self.aw_agent, follow_ego=True
+                )
 
-        # stop the MetricsCollector thread
-        MetricsCollector.reset()
+                self.scenario_manager.run_scenario()
+                result = True
+            except Exception:
+                traceback.print_exc()
+                logger.info(
+                    "Could not load scenario. Please check if the agent class is loading correctly."
+                )
+                result = False
+            finally:
+                self.carla_client.stop_recorder()
 
-        # Safe fallback defined before the try block
-        result_dict = {"status": False, "driving_score": None}
+            # stop the MetricsCollector thread
+            MetricsCollector.reset()
 
-        try:
             criteria = self._output_criteria(
-                self.scenario_manager.scenario.get_criteria(),
+                self.scenario_manager.scenario.get_criteria(),  # type: ignore
                 f"{self.results_manager.last_scenario}/{scenario_name}.json",
             )
             logger.info("Calculating driving score...")
             driving_score = self._calculate_driving_score(criteria)
-            result_dict = result_.get()
             result_dict["driving_score"] = driving_score
             result_dict["status"] = result
             logger.info("Processed driving score...")
+
             if algorithm_mode:
                 algorithm._update_generator(seed)  # type: ignore
-
                 try:
                     definition = algorithm._scenario_callback(  # type: ignore
                         current_definiton, result_dict["driving_score"]
@@ -363,9 +361,19 @@ def run_scenario(
                     logger.error(
                         "Something went wrong while processing algorithm callback; is CARLA alive?"
                     )
+
         except Exception:
-            logger.info("Something went wrong, retrying scenario...")
+            logger.error("Unhandled exception in run_scenario:")
+            traceback.print_exc()
+
         finally:
+            # Drain the unconsumed sentinel from the queue if the process never
+            # called result_.get() on the success path (i.e. any failure path).
+            # This prevents two items sitting on the queue for the parent to read.
+            try:
+                result_.get_nowait()
+            except multiprocessing.queues.Empty:
+                pass
             result_.put(result_dict)
 
     def _tick_carla(self) -> None:
@@ -550,7 +558,7 @@ def _cawsr_process(
 
         env_config.iteration = run
         scenario_process = multiprocessing.Process(
-            target=self.run_scenario,  # need to catch connection exception
+            target=self.run_scenario,
             args=(
                 route_config,
                 env_config,
@@ -562,17 +570,28 @@ def _cawsr_process(
                 algorithm,
             ),
         )
-        # run scenario until finished
+
         logger.info(f"Starting {scenario_name} process.")
         scenario_process.start()
-        scenario_process.join()
-
-        logger.info("Extracting results...")
-        # fetch result and clean up
-        result = scenario_result.get()
+        scenario_process.join(timeout=self._conf.get("scenario_timeout", 600))
 
         if scenario_process.is_alive():
+            logger.error("Scenario process timed out, killing...")
             scenario_process.kill()
+            scenario_process.join()
+
+        logger.info("Extracting results...")
+
+        # Use get_nowait() so we never block if the subprocess died without putting
+        # a result on the queue (e.g. a CARLA crash before run_scenario's finally ran)
+        try:
+            result = scenario_result.get_nowait()
+        except multiprocessing.queues.Empty:
+            logger.error(
+                "Scenario process died without returning a result, using fallback."
+            )
+            result = {"status": False, "driving_score": None}
+
         self.results_manager.cleanup_xml()
 
         time.sleep(1)

From 8bdf6b836f970532fc00656c9d8c990698bbc1d9 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 11:42:43 +0000
Subject: [PATCH 113/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index e3faf9e6525e8092c8e5a97d57938f49871ca407..ab69e67d5f7f591a609040c355b178a3ed643511 100644
GIT binary patch
delta 234
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rxLI1dnmQSnn7ddwxjMPoDcBHJ5<C6jO)k0Vb$r|s+gB%Yhcf{H7q&!N

delta 234
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWe1Gb=;GsOc9Ea!O3!dze#Td&wcr
z*NiM6;pxdoI4vNo`A0adz^v_ek8nydsu)_N7^WCnSm*+2V_g$tO9S0RW8+law3Osj
zAT}{GH%)7oI>xzO>KK=7AG48};dHAIZYdCBdw2-<4IVdBOLIeWV`F0{a|25^Gh+iw
qGZRZ!LjxCAV?!597h_X91slRjVy8d6$t5?vj*nYn`|3pQa3%ob6+=`2


From 2e0cd0af5335cfe7d00a21ace7e2c0ed1838ade8 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 13:03:27 +0100
Subject: [PATCH 114/133] bug fixes

---
 cawsr.py | 46 +++++++++++++++++++++++++---------------------
 1 file changed, 25 insertions(+), 21 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 2258b62..f62f007 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -465,7 +465,6 @@ def run_algorithm(self) -> None:
             )
 
     def run_benchmark(self) -> None:
-        """Executes CAWSR in benchmark mode. Scenarios are loaded from the target directory, and either executed in sequence or randomly sampled based on a seed."""
         target_dir = pathlib.Path(self._conf["benchmark"]["scenarios"])
         scenarios = [scenario for scenario in target_dir.glob("*.json")]
 
@@ -474,37 +473,39 @@ def run_benchmark(self) -> None:
             retry_attempts = 2
             attempts = 0
 
-            while attempts < retry_attempts:
-                logger.info(f"Running scenario {i + 1}/{runs}")
+            if self._conf["benchmark"]["random_sampling"]:
+                scenario = random.choice(scenarios)
+                scenarios.remove(scenario)
+            else:
+                scenario = scenarios[i]
 
-                if self._conf["benchmark"]["random_sampling"]:
-                    scenario = random.choice(scenarios)
-                    scenarios.remove(
-                        scenario
-                    )  # each scenario can only be executed once
-                else:
-                    scenario = scenarios[i]
+            self._load_scenario(
+                scenario_name=scenario.stem,
+                path=str(scenario.absolute()),
+                run=i,
+                save_def=True,
+            )
 
-                self._load_scenario(
-                    scenario_name=scenario.stem,
-                    path=str(scenario.absolute()),
-                    run=i,
-                    save_def=True,
+            while attempts < retry_attempts:
+                logger.info(
+                    f"Running scenario {i + 1}/{runs} (attempt {attempts + 1}/{retry_attempts})"
                 )
 
                 CARLAManager._set_recording_dir(self.results_manager.recording_path)
                 logger.info("Starting CARLA container....")
                 CARLAManager.restart_carla()
-                time.sleep(10)  # allow CARLA to load
+
+                # Wait for CARLA to be ready, with a configurable timeout
+                carla_startup_wait = self._conf.get("carla_startup_wait", 20)
+                logger.info(f"Waiting {carla_startup_wait}s for CARLA to be ready...")
+                time.sleep(carla_startup_wait)
 
                 env_config = EnvironmentParser.parse_scenario_env(
                     self.results_manager.fetch_scenario_xml()
                 )
                 route_config = RouteParser.parse_routes_file(
                     self.results_manager.last_scenario, env_config
-                )[
-                    0
-                ]  # route id. Multiple routes currently aren't supported, so use first route
+                )[0]
 
                 result = self._cawsr_process(
                     route_config=route_config,
@@ -514,11 +515,14 @@ def run_benchmark(self) -> None:
                     algorithm_mode=False,
                 )
 
-                # scenario failed, run it again.
                 if not result["status"] and result["driving_score"] is None:
                     attempts += 1
+                    if attempts < retry_attempts:
+                        logger.warning(
+                            f"Scenario {scenario.stem} failed with no result "
+                            f"(attempt {attempts}/{retry_attempts}), retrying..."
+                        )
                 else:
-                    # successful execution, move onto the next
                     break
 
     def _cawsr_process(

From 09183ff44b5a8ebc259feca00faf3f09f579e147 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 12:04:52 +0000
Subject: [PATCH 115/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index ab69e67d5f7f591a609040c355b178a3ed643511..332efb60f700d4c04a20d7328901454a01abc7b5 100644
GIT binary patch
delta 264
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From 84d98f795b61ad9b0935520dfd989323a23dd0b9 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 13:13:46 +0100
Subject: [PATCH 116/133] bug fixes

---
 cawsr.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index f62f007..e5262a7 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -367,9 +367,6 @@ def run_scenario(
             traceback.print_exc()
 
         finally:
-            # Drain the unconsumed sentinel from the queue if the process never
-            # called result_.get() on the success path (i.e. any failure path).
-            # This prevents two items sitting on the queue for the parent to read.
             try:
                 result_.get_nowait()
             except multiprocessing.queues.Empty:
@@ -577,7 +574,7 @@ def _cawsr_process(
 
         logger.info(f"Starting {scenario_name} process.")
         scenario_process.start()
-        scenario_process.join(timeout=self._conf.get("scenario_timeout", 600))
+        scenario_process.join(timeout=self._conf.get("scenario_timeout", 5))
 
         if scenario_process.is_alive():
             logger.error("Scenario process timed out, killing...")
@@ -590,6 +587,7 @@ def _cawsr_process(
         # a result on the queue (e.g. a CARLA crash before run_scenario's finally ran)
         try:
             result = scenario_result.get_nowait()
+            logger.info(f"Subprocess returned: {result}")
         except multiprocessing.queues.Empty:
             logger.error(
                 "Scenario process died without returning a result, using fallback."

From 621b9a2dfa4c1f06451390912fb7030606a11609 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 12:14:45 +0000
Subject: [PATCH 117/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 332efb60f700d4c04a20d7328901454a01abc7b5..63af5a2df289708472cabeaacdcdc829830dc280 100644
GIT binary patch
delta 239
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWeX6DwoGsOc9Ea!O3!dze#Td&wcr
z*Nm)S;pr(yIL)EV1xGk7A<XUfj&Mpasw7(`85*Z18tYn`S{mq@BwASLTBH~n>!v2A
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ui;J_Vp^1gDp`o#>iGiiLlZm69f(>CMvC|*k<dU0S$Hy(PeRU#tI1>QyFhn>2

delta 239
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWds6Dt#gsOc9Ea!O3!dze#Td&wcr
z*Nm)S;pr(yIL)EV1xGk7A<XUfj&Mpas-&2w8JQU+ndzD*S{Uh?7#JAnT9}#`>RJFr
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From 7ebc59b347b9b148244336a763869eb175ccda7a Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 13:56:10 +0100
Subject: [PATCH 118/133] added check to only cleanup scenario if executed
 successfully

---
 cawsr.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index e5262a7..ae03302 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -594,10 +594,6 @@ def _cawsr_process(
             )
             result = {"status": False, "driving_score": None}
 
-        self.results_manager.cleanup_xml()
-
-        time.sleep(1)
-
         # if the process exits (CARLA crash for example), these are none
         # fetch execution status of the scenario (failure or success)
         status = result.get("status", None)
@@ -608,6 +604,12 @@ def _cawsr_process(
             f"Scenario iteration {run} ended with status {'SUCCESS' if status else 'FAILURE'}"
         )
 
+        # only cleanup if scenario finished successfully
+        if not result["status"] and result["driving_score"] is None:
+            self.results_manager.cleanup_xml()
+
+        time.sleep(1)
+
         return result
 
     def _load_scenario(

From d6811b2306444c0eb5ffcca7de1171a94eb67abf Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 12:57:10 +0000
Subject: [PATCH 119/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 63af5a2df289708472cabeaacdcdc829830dc280..da91854aca75d297b6afac43ad2dc9d51c5bf1ff 100644
GIT binary patch
delta 239
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWenGb>YzsOc9Ea!O3!dze#Td&wcr
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tnVA?{8arATSels`7+IP*TiPku5LOa9{oze6x#@L$+!EVYCvt}~0RU^fME(E(

delta 239
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWeX6DwoGsOc9Ea!O3!dze#Td&wcr
z*Nm)S;pr(yIL)EV1xGk7A<XUfj&Mpasw7(`85*Z18tYn`S{mq@BwASLTBH~n>!v2A
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ui;J_Vp^1gDp`o#>iGiiLlZm69f(>CMvC|*k<dU0S$Hy(PeRU#tI1>QyFhn>2


From 3e5d0116e0e040dda56237326737f8f32262bdb5 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 14:10:14 +0100
Subject: [PATCH 120/133] bug fixes)

---
 cawsr.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index ae03302..d1df9d8 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -574,7 +574,7 @@ def _cawsr_process(
 
         logger.info(f"Starting {scenario_name} process.")
         scenario_process.start()
-        scenario_process.join(timeout=self._conf.get("scenario_timeout", 5))
+        scenario_process.join()
 
         if scenario_process.is_alive():
             logger.error("Scenario process timed out, killing...")
@@ -606,6 +606,7 @@ def _cawsr_process(
 
         # only cleanup if scenario finished successfully
         if not result["status"] and result["driving_score"] is None:
+            logger.info("Cleaning up scenario artifacts...")
             self.results_manager.cleanup_xml()
 
         time.sleep(1)

From 9a5e7b4d6dfb02dda563649fca1b3b7120484772 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 13:11:08 +0000
Subject: [PATCH 121/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index da91854aca75d297b6afac43ad2dc9d51c5bf1ff..c64604bc08845a43874227b848fbc36c3be2b432 100644
GIT binary patch
delta 265
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J)rs8UOaP}{N@xH8

delta 265
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+%OMUUD^oKoQ;VqS7Y}kuOy7H$Q($|^
zA<mbK>`;m6DMvU>;hY6WIL%?4?e~swN--*#C7UE$n(C&dn5XHQn46~QCYqTi>ZT^9
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MCAP0l<PK*70ES~rasU7T


From 9ae14c36e85a02bcf526e559d4179082a67ccab1 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 14:32:36 +0100
Subject: [PATCH 122/133] added logging

---
 cawsr.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index d1df9d8..2147f4f 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -369,9 +369,12 @@ def run_scenario(
         finally:
             try:
                 result_.get_nowait()
+                logger.info("Clearing process pipe...")
             except multiprocessing.queues.Empty:
-                pass
+                logger.info("Process pipe is empty")
+            logger.info("Stopping process...")
             result_.put(result_dict)
+            os._exit(0)  # force exit
 
     def _tick_carla(self) -> None:
         """Advances CARLA 1 tick into the future"""

From 4d33cfc980eba354181d2a0a2f99b3c15c67fbd7 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 13:33:35 +0000
Subject: [PATCH 123/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index c64604bc08845a43874227b848fbc36c3be2b432..6bc86e7861cc59bdfe6f88edf45a0b89ab4837df 100644
GIT binary patch
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tn>$;WI~rP=Ivbn07+X4<8QUq?5LOa9{oze6x#@L$+!EVYCvt}~0RU7)MC<?n

delta 239
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From f62a5a9c2e21841eecd4fbff9d8b8ae9caf4b72f Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 14:40:10 +0100
Subject: [PATCH 124/133] bug fixes

---
 cawsr.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 2147f4f..59d81dc 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -607,8 +607,8 @@ def _cawsr_process(
             f"Scenario iteration {run} ended with status {'SUCCESS' if status else 'FAILURE'}"
         )
 
-        # only cleanup if scenario finished successfully
-        if not result["status"] and result["driving_score"] is None:
+        # only cleanup if scenario finished successfully - driving score has been set
+        if result["driving_score"] is not None:
             logger.info("Cleaning up scenario artifacts...")
             self.results_manager.cleanup_xml()
 

From b80729b0e9b9347ceed2d5067a94c3a0cdfa3fe4 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 13:41:05 +0000
Subject: [PATCH 125/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 6bc86e7861cc59bdfe6f88edf45a0b89ab4837df..27b30515e1509c052a4f4c7bbae4b5bd0909b7c9 100644
GIT binary patch
delta 233
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delta 233
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h++aWe%V=E)0sOc9Ea!O3!dze#Td&wcr
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From fb4bbcbcaf2476e084b7d702fdb1f1e91e41f142 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 15:03:57 +0100
Subject: [PATCH 126/133] fixes

---
 cawsr.py                       | 3 ++-
 srunner/tools/CARLA_manager.py | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/cawsr.py b/cawsr.py
index 59d81dc..6afa53f 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -372,8 +372,9 @@ def run_scenario(
                 logger.info("Clearing process pipe...")
             except multiprocessing.queues.Empty:
                 logger.info("Process pipe is empty")
-            logger.info("Stopping process...")
             result_.put(result_dict)
+            logger.info("Stopping process...")
+            time.sleep(1)
             os._exit(0)  # force exit
 
     def _tick_carla(self) -> None:
diff --git a/srunner/tools/CARLA_manager.py b/srunner/tools/CARLA_manager.py
index 4eba141..a08e17d 100644
--- a/srunner/tools/CARLA_manager.py
+++ b/srunner/tools/CARLA_manager.py
@@ -7,6 +7,7 @@
 
 import subprocess
 import os
+import time
 import logging
 
 from srunner.scenarioconfigs.carla_config import CARLA
@@ -148,6 +149,7 @@ def restart_carla():
         if CARLAManager.container_id is not None:
             # stop existing CARLA container and create a new one
             CARLAManager.stop_carla()
+            time.sleep(5)
             CARLAManager.start_carla()
         else:
             CARLAManager.start_carla()

From 2bf4868638f22d57c811e97f64dffec13535522f Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 14:05:09 +0000
Subject: [PATCH 127/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index 27b30515e1509c052a4f4c7bbae4b5bd0909b7c9..d9f400b8fab11083030e3e8e2cbcbd14d9ff231e 100644
GIT binary patch
delta 267
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NxFxo)PUH?}0sy~;Nyq>I

delta 267
zcmZoVq1$vqx1oixg{g(Pg{6hHg{_6Xg<}h+%OMV9D-#1NQ=_Qq7Y}kuOy7H$Q($|^
zA<mbK>`;m6DMvU>;hY6WIL%?4?e~swN-(Mz7?_$ErX;88rlpvh>Y4yaT}w*?1KmUm
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NaZ7ApoyZ-|1OP@EN{#>k


From 91ebcf7e384967a2ec2bdcc9e0a679ddfa322db4 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 15:17:47 +0100
Subject: [PATCH 128/133] fixes

---
 cawsr.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/cawsr.py b/cawsr.py
index 6afa53f..c167885 100644
--- a/cawsr.py
+++ b/cawsr.py
@@ -372,10 +372,12 @@ def run_scenario(
                 logger.info("Clearing process pipe...")
             except multiprocessing.queues.Empty:
                 logger.info("Process pipe is empty")
+
             result_.put(result_dict)
+            result_.close()
+            result_.join_thread()
             logger.info("Stopping process...")
-            time.sleep(1)
-            os._exit(0)  # force exit
+            os._exit(0)
 
     def _tick_carla(self) -> None:
         """Advances CARLA 1 tick into the future"""

From 325413fd9b90ffd90e08c04c44609f24cbf59c2c Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 14:18:51 +0000
Subject: [PATCH 129/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 746498 -> 746498 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/paper.pdf b/paper.pdf
index d9f400b8fab11083030e3e8e2cbcbd14d9ff231e..0ebc154074b36f7e7c54a8c76493f092b803523c 100644
GIT binary patch
delta 239
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ushO#hqobvvnX|K*n~{N|xq-2rf(>CMvC|*k<dU0S$Hy(PeRU#tI1>N@&qQGW

delta 239
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From 5acabe33a5b0fd3a9253dd728586a2a5fad6f434 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Thu, 4 Jun 2026 20:48:16 +0100
Subject: [PATCH 130/133] updated paper to match JOSS scope

---
 paper.bib |   8 ++++++++
 paper.md  |  29 +++++++++++++++++++++++++----
 paper.pdf | Bin 746498 -> 754349 bytes
 3 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/paper.bib b/paper.bib
index 0eff17b..99716a4 100644
--- a/paper.bib
+++ b/paper.bib
@@ -154,3 +154,11 @@ @INPROCEEDINGS{9294422
   pages={1-6},
   keywords={Sensors;Autonomous vehicles;Sensor systems;Engines;Bridges;Three-dimensional displays;Vehicle dynamics},
   doi={10.1109/ITSC45102.2020.9294422}}
+
+
+@inproceedings{awcl_26,
+  title = {Empirical mapping of technical bottlenecks in autonomous driving: A cross-platform evaluation of simulated and real-world performance},
+  author = {Kaljavesi, Gemb and Majstorovic, Domagoj and Clement, Maxime and Diermeyer, Frank},
+  year = {2026},
+  howpublished = {Preprint}
+}
diff --git a/paper.md b/paper.md
index 429a845..8e38ede 100644
--- a/paper.md
+++ b/paper.md
@@ -53,8 +53,6 @@ This gap has created a significant bottleneck for the research community.
 Previously, researchers developing scenario generation algorithms mainly relied on combining Apollo with the LGSVL simulator [@9294422].
 However, LGSVL is now outdated, with official support ending in January 2022.
 This leaves many researchers without a suitable industry-grade "subject" for evaluating their algorithms.
-While recent tools like PCLA [@tehrani2025pcla] attempt to simplify deploying Autoware (and other ADS implementations) into CARLA, they focus primarily on simplifying the ADS implementations and abstracting the setup process across different CARLA versions.
-They lack the deep integration required between the agent and simulator to execute complex, route-based scenarios.
 
 `CAWSR` aims to bridge this gap by enabling the evaluation of Autoware in complex driving scenarios within CARLA.
 By building on the established CARLA platform, this work provides a modern replacement for the outdated Apollo/LGSVL workflow.
@@ -67,6 +65,31 @@ This facilitates a wide range of verification strategies based on common metrics
 Lastly, it is worth noting that simulators can often introduce unintended nondeterminism, which leads to inconsistent test results [@9793395; @osikowicz2025empirically].
 Therefore, `CAWSR` is designed to minimise such nondeterminism throughout the evaluation pipeline.
 
+# State of the Field
+
+Simulation-based testing of Autonomous Vehicles spans several tools and frameworks, each targeting different aspects of the evaluation pipeline. CAWSR occupies a unique niche at the intersection of industry-grade ADS integration, scenario-based testing, and modern simulator support.
+
+### Simulation Platforms
+
+CARLA [@carla_sim] has established itself as the standard open-source simulator for ADS research, offering a rich ecosystem of tools, high-fidelity sensor models, and an active community. Its closest historical competitor for industry-grade ADS testing was LGSVL [@9294422], a Unity-based simulator developed by LG Electronics that provided integration with Apollo. However, LGSVL's official support was discontinued in January 2022, leaving a significant gap for researchers who relied on it as the simulation backend for their testing pipelines.
+
+### Scenario Execution Engines
+
+Within the CARLA ecosystem, Scenario Runner (SR) [@carla_scenario_runner_2025] is the standard scenario execution engine, underpinning the CARLA Leaderboard[@carla_leaderboard] evaluation framework. SR is well-suited to evaluating black-box ML-based agents that expose only sensor inputs and control outputs. However, it is not designed to interface with full-stack, industry-grade ADS such as Autoware, which rely on complex middleware architectures (e.g., ROS2) for internal communication. CAWSR extends the SR execution model specifically to accommodate Autoware's architecture, enabling scenario-based testing and evaluation of module-based ADS, which SR does not support.
+
+### Autoware Integration Tools
+
+Three existing tools provide partial integration between Autoware and CARLA. The CARLA-Autoware Bridge [@carlaautowarebridge] handles low-level data translation between the simulator and Autoware's ROS2 interface, converting CARLA snapshots and sensor data into Autoware's coordinate system. PCLA [@tehrani2025pcla] takes a different approach, simplifying the deployment of multiple pretrained CARLA Leaderboard agents across CARLA versions, making it a valuable benchmarking utility for comparing ML agents. However, PCLA abstracts away ADS implementation details and does not provide the deep simulator-agent integration needed for route-based scenario execution, alongside limited support for module-based driving systems.
+
+Most recently, autoware_carla_leaderboard [@awcl_26], has been developed by the same group behind the CARLA-Autoware Bridge, introducing support for executing CARLA Leaderboard scenarios with Autoware Universe. This represents a concurrent development with overlapping goals. However, it focuses on execution of predefined scenario sets and does not provide a programmatic interface for algorithmic scenario generation, which is a primary design goal of CAWSR. Furthermore, as this tool was released after the initial development of CAWSR, the two works are best understood as complementary efforts addressing the same research gap independently. Neither tool exposes a programmatic interface for algorithmic scenario generation, a core requirement for systematic verification research.
+
+
+### Build vs. Contribute Justification
+
+<!-- I've decided not to mention Gembs tool in our justification. I feel its slightly unjust since we submitted significantly before their tool had been released. Thoughts? -->
+
+The existing landscape presents a clear rationale for CAWSR as a new tool rather than a contribution to an existing project. Extending SR to support Autoware would require fundamental architectural changes to its agent model, which is designed around the black-box paradigm. The CARLA-Autoware Bridge provides a necessary but insufficient building block that CAWSR builds on top of as a dependency. No existing tool unifies a maintained, modern simulator with an industry-grade ADS subject, supporting route-based scenario execution and a flexible interface for programmatic scenario generation. CAWSR is the first framework to integrate all four, enabling researchers to systematically evaluate Autoware against state-of-the-art scenario generation algorithms on a reproducible testing platform.
+
 # Research Impact
 
 `CAWSR` provides a significant research impact by bridging the gap between the widely-used CARLA simulator and the industry-grade Autoware ADS.
@@ -78,8 +101,6 @@ To ensure community readiness and ease of use, it is distributed as a Docker con
 Furthermore, by adopting CARLA Leaderboard metrics, `CAWSR` enables researchers to directly compare Autoware with other state-of-the-art driving agents in the CARLA environment.
 It provides an essential foundation for the systematic evaluation of various testing approaches for ADS.
 
-
-
 # Software Design
 <!-- I've renamed the "Tool Overview" section since it fits quite well here, and added a few justifications.-->
 
diff --git a/paper.pdf b/paper.pdf
index d9f400b8fab11083030e3e8e2cbcbd14d9ff231e..6e11dd756542de8e0eb9f18dcb89945ae515a4cd 100644
GIT binary patch
delta 38284
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From b9fc827f7672cd157393b7d7f76b89dbcf7a54a1 Mon Sep 17 00:00:00 2001
From: david-gasinski <david-gasinski@users.noreply.github.com>
Date: Thu, 4 Jun 2026 19:49:56 +0000
Subject: [PATCH 131/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 0 -> 754149 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 paper.pdf

diff --git a/paper.pdf b/paper.pdf
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From 507884694c50f6e04e93de216e872a399cbb5f8e Mon Sep 17 00:00:00 2001
From: Donghwan Shin <d.shin@sheffield.ac.uk>
Date: Wed, 17 Jun 2026 22:57:37 +0100
Subject: [PATCH 132/133] revised the new "State of the Field"

---
 paper.md | 46 ++++++++++++++--------------------------------
 1 file changed, 14 insertions(+), 32 deletions(-)

diff --git a/paper.md b/paper.md
index 8e38ede..81553d1 100644
--- a/paper.md
+++ b/paper.md
@@ -67,39 +67,16 @@ Therefore, `CAWSR` is designed to minimise such nondeterminism throughout the ev
 
 # State of the Field
 
-Simulation-based testing of Autonomous Vehicles spans several tools and frameworks, each targeting different aspects of the evaluation pipeline. CAWSR occupies a unique niche at the intersection of industry-grade ADS integration, scenario-based testing, and modern simulator support.
+Simulation-based testing of Autonomous Vehicles spans several tools, but CAWSR occupies a unique niche at the intersection of industry-grade ADS integration, scenario-based testing, and programmatic scenario generation.
 
-### Simulation Platforms
+**Simulators**: CARLA [@carla_sim] and SR [@carla_scenario_runner_2025] play a key role as the de-facto standard for open-source ADS research. However, their driving agent architecture inherently assumes a black-box model (for a good reason to encapsulate the ADS details), lacking the necessary mechanism to manage the complex massage passing of a ROS2-based system like Autoware.
 
-CARLA [@carla_sim] has established itself as the standard open-source simulator for ADS research, offering a rich ecosystem of tools, high-fidelity sensor models, and an active community. Its closest historical competitor for industry-grade ADS testing was LGSVL [@9294422], a Unity-based simulator developed by LG Electronics that provided integration with Apollo. However, LGSVL's official support was discontinued in January 2022, leaving a significant gap for researchers who relied on it as the simulation backend for their testing pipelines.
+**Autoware Integrations**: The CARLA-Autoware Bridge [@carlaautowarebridge] provides low-level data translation between CARLA and ROS2, serving as a vital dependency for our work. However, it does not provide any scenario execution capabilities. PCLA [@tehrani2025pcla] simplifies the deployment of multiple pretrained ML-based driving agents across multiple CARLA versions, but abstracts away the deep simulator-agent integration required for modular ADS like Autoware.
 
-### Scenario Execution Engines
+Recent concurrent developments, such as the autoware-carla leaderboard [@awcl_26], have also recognised this gap, introducing support for executing predefined Leaderboard scenarios with Autoware in CARLA. While these efforts confirm the urgent need, they optimise mainly for static benchmark execution. CAWSR diverges in its fundamental design by exposing a programmatic interface tailored for algorithmic, iterative scenario generation, which is a strict prerequisite for systematic ADS testing research.
 
-Within the CARLA ecosystem, Scenario Runner (SR) [@carla_scenario_runner_2025] is the standard scenario execution engine, underpinning the CARLA Leaderboard[@carla_leaderboard] evaluation framework. SR is well-suited to evaluating black-box ML-based agents that expose only sensor inputs and control outputs. However, it is not designed to interface with full-stack, industry-grade ADS such as Autoware, which rely on complex middleware architectures (e.g., ROS2) for internal communication. CAWSR extends the SR execution model specifically to accommodate Autoware's architecture, enabling scenario-based testing and evaluation of module-based ADS, which SR does not support.
+**Build vs. Contribute**: The state of the field presents a clear rationale for CAWSR as a new tool rather than a contribution to an existing project. Extending SR directly to support Autoware would require fundamentally rewriting its core agent model, breaking backwards compatibility for ML-based users. Therefore, building CAWSR as a standalone orchestration layer that leverages SR's underlying behavior trees, while maintaining a specialised ROS2 agent interface, presents the most viable scholarly contribution. 
 
-### Autoware Integration Tools
-
-Three existing tools provide partial integration between Autoware and CARLA. The CARLA-Autoware Bridge [@carlaautowarebridge] handles low-level data translation between the simulator and Autoware's ROS2 interface, converting CARLA snapshots and sensor data into Autoware's coordinate system. PCLA [@tehrani2025pcla] takes a different approach, simplifying the deployment of multiple pretrained CARLA Leaderboard agents across CARLA versions, making it a valuable benchmarking utility for comparing ML agents. However, PCLA abstracts away ADS implementation details and does not provide the deep simulator-agent integration needed for route-based scenario execution, alongside limited support for module-based driving systems.
-
-Most recently, autoware_carla_leaderboard [@awcl_26], has been developed by the same group behind the CARLA-Autoware Bridge, introducing support for executing CARLA Leaderboard scenarios with Autoware Universe. This represents a concurrent development with overlapping goals. However, it focuses on execution of predefined scenario sets and does not provide a programmatic interface for algorithmic scenario generation, which is a primary design goal of CAWSR. Furthermore, as this tool was released after the initial development of CAWSR, the two works are best understood as complementary efforts addressing the same research gap independently. Neither tool exposes a programmatic interface for algorithmic scenario generation, a core requirement for systematic verification research.
-
-
-### Build vs. Contribute Justification
-
-<!-- I've decided not to mention Gembs tool in our justification. I feel its slightly unjust since we submitted significantly before their tool had been released. Thoughts? -->
-
-The existing landscape presents a clear rationale for CAWSR as a new tool rather than a contribution to an existing project. Extending SR to support Autoware would require fundamental architectural changes to its agent model, which is designed around the black-box paradigm. The CARLA-Autoware Bridge provides a necessary but insufficient building block that CAWSR builds on top of as a dependency. No existing tool unifies a maintained, modern simulator with an industry-grade ADS subject, supporting route-based scenario execution and a flexible interface for programmatic scenario generation. CAWSR is the first framework to integrate all four, enabling researchers to systematically evaluate Autoware against state-of-the-art scenario generation algorithms on a reproducible testing platform.
-
-# Research Impact
-
-`CAWSR` provides a significant research impact by bridging the gap between the widely-used CARLA simulator and the industry-grade Autoware ADS.
-It addresses a critical bottleneck in the ADS testing research community by offering a modern replacement for the outdated Apollo/LGSVL workflow, which has lacked official support since 2022.
-
-It enhances research reproducibility by implementing a fully synchronous evaluation pipeline that minimises unintended nondeterminism in simulation-based testing.
-To ensure community readiness and ease of use, it is distributed as a Docker container.
-
-Furthermore, by adopting CARLA Leaderboard metrics, `CAWSR` enables researchers to directly compare Autoware with other state-of-the-art driving agents in the CARLA environment.
-It provides an essential foundation for the systematic evaluation of various testing approaches for ADS.
 
 # Software Design
 <!-- I've renamed the "Tool Overview" section since it fits quite well here, and added a few justifications.-->
@@ -136,14 +113,19 @@ This model is based on the format introduced by Scenario Runner, facilitating su
 
 ![Scenario definition domain model.\label{fig:scenario_domain}](./docs/resources/scenario_domain.pdf)
 
-# Conclusion
+# Research Impact
 
-To summarise, `CAWSR` provides ADS testing research community an easy to use Autoware evaluation pipeline.
-We hope that this work can facilitate the evaluation of new testing approaches on a state of the art driving system.
+`CAWSR` provides a significant research impact by bridging the gap between the widely-used CARLA simulator and the industry-grade Autoware ADS.
+It addresses a critical bottleneck in the ADS testing research community by offering a modern replacement for the outdated Apollo/LGSVL workflow, which has lacked official support since 2022.
+
+It enhances research reproducibility by implementing a fully synchronous evaluation pipeline that minimises unintended nondeterminism in simulation-based testing.
+To ensure community readiness and ease of use, it is distributed as a Docker container.
+
+Furthermore, by adopting CARLA Leaderboard metrics, `CAWSR` enables researchers to directly compare Autoware with other state-of-the-art driving agents in the CARLA environment.
+It provides an essential foundation for the systematic evaluation of various testing approaches for ADS.
 
 # AI Usage Disclosure
 
-<!-- David: I used AI to help explain concepts some concepts and generate short code snippets to get me started (mostly about ROS2 and networking). Is this the correct way to phrase it? -->
 Generative AI tools were used in this work solely to support high-level research concepts and structural ideas. All software implementation, including the source code, architecture, and deployment scripts, was authored entirely by the researchers without AI assistance.
 
 # Acknowledgements

From 5ea215e13c03d48102ed30016d20d055463e36b3 Mon Sep 17 00:00:00 2001
From: donghwan-shin <donghwan-shin@users.noreply.github.com>
Date: Wed, 17 Jun 2026 21:58:40 +0000
Subject: [PATCH 133/133] (auto) Paper PDF Draft

---
 paper.pdf | Bin 754149 -> 747731 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

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