VAST is a Scenic and Scenario Simulator v2 integration layer for generating and running autonomous-driving scenarios with Autoware-compatible simulation stacks. This repository is intended to serve as the public implementation artifact referenced from the accompanying paper.

Paper URL:

Not yet public. The paper URL will be added here once it becomes available.

This repository contains:

• Scenic/: Scenic language runtime and the Scenario Simulator integration under src/scenic/simulators/scenario_simulator/.
• scenic_interpreter/: ROS 2 / Scenario Simulator v2 bridge package that receives Scenic commands and controls simulation entities. This package is intended to be used inside an Autoware source tree at autoware/src/simulator/scenario_simulator/openscenario/scenic_interpreter/.

The paper links to this repository so readers can inspect the implementation boundary of the proposed system. The main contribution-specific code is in the Scenic Scenario Simulator backend and the ROS 2 scenic_interpreter bridge. External systems such as Autoware, AWSIM, maps, and simulator binaries are treated as dependencies and are not redistributed in this repository.

The scenic_interpreter directory is distributed separately in this repository for readability, but it is expected to be placed under the Scenario Simulator v2 tree in Autoware:

autoware/src/simulator/scenario_simulator/openscenario/scenic_interpreter/

Use this repository to review:

• how Scenic scenarios are translated into Scenario Simulator commands;
• how the SS2 bridge receives Scenic requests and updates simulation entities;
• how the integration layer is separated from Autoware and AWSIM source trees.

Autoware, AWSIM binaries, Unity assets, generated build outputs, run artifacts, and map data are not intended to be committed here. Install or obtain those components separately, then place this repository's integration layer into the corresponding workspace.

cd Scenic
python3 -m venv .venv
source .venv/bin/activate
pip install -e ".[dev]"
pytest

# From a ROS 2 / Autoware workspace containing scenic_interpreter at:
# autoware/src/simulator/scenario_simulator/openscenario/scenic_interpreter/
colcon build --symlink-install --packages-select scenic_interpreter

Scenic/ retains its original BSD 3-Clause license. The scenic_interpreter ROS 2 package declares Apache-2.0 in package.xml. Third-party simulator binaries, maps, and generated artifacts should be managed outside this repository with their own licenses.

If you use this repository, please cite the accompanying paper. The BibTeX entry will be added here after the paper metadata is finalized.