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Generate scenes from code (headless)

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The factories and exporters in @drawtonomy/sdk are pure functions. Everything the editor exports — OpenDRIVE, OpenSCENARIO, Lanelet2 — can be produced from a plain Node.js script: in CI, in a batch job, or from your own tooling.

Requires @drawtonomy/sdk 0.17.0 or later.

Terminal window
npm install @drawtonomy/sdk

A complete example

Section titled “A complete example”

Build a straight road with a moving vehicle and a pedestrian, and write all three formats to disk:

// generate.mjs — run with: node generate.mjs
import {
  createLaneWithBoundaries,
  createPathWithFootprints,
  createPedestrian,
  createSnapshot,
  exporter,
} from '@drawtonomy/sdk'
import { writeFileSync } from 'node:fs'


// Canvas units are pixels; 1 m = 16.67 px. 500 px = 30 m.
const lane = createLaneWithBoundaries(
  [{ x: 0, y: 0 }, { x: 500, y: 0 }],    // left boundary
  [{ x: 0, y: 50 }, { x: 500, y: 50 }],  // right boundary (3 m wide lane)
)


// A driving path down the lane center. On export it becomes a timed
// trajectory the vehicle follows (constant speed, 10 m/s by default).
const path = createPathWithFootprints(
  [{ x: 0, y: 25 }, { x: 250, y: 25 }, { x: 500, y: 25 }],
  { count: 5 },
)


const pedestrian = createPedestrian(300, 120)


const snapshot = createSnapshot([...lane, ...path, pedestrian])


writeFileSync('scene.xodr', exporter.exportToOpenDrive(snapshot, {}))
writeFileSync('scene.xosc', exporter.exportToOpenScenario(snapshot, {}))
writeFileSync('scene.osm', exporter.exportToLanelet2(snapshot, {}))

What you get:

  • scene.xodr — OpenDRIVE 1.8 with real-world units (the 50 px lane comes out 3.0 m wide) and a <geoReference> projection string.
  • scene.xosc — OpenSCENARIO 1.3 with two entities. The path becomes a FollowTrajectoryAction whose polyline vertices carry timestamps, so esmini plays it back directly: esmini --osc scene.xosc --window 60 60 800 400.
  • scene.osm — a Lanelet2 map (way boundaries + relation type=lanelet) that round-trips into Autoware-compatible tooling.

Parsing generated (or existing) maps

Section titled “Parsing generated (or existing) maps”

The exporters have matching parsers, so generated output round-trips:

import { readFileSync } from 'node:fs'
import { exporter } from '@drawtonomy/sdk'


const parsed = exporter.parseOpenDriveXml(readFileSync('scene.xodr', 'utf8'))
const { lanes, linestrings, points, warnings } = exporter.odrToShapes(parsed)

The same works for Lanelet2 via parseOsmXml + osmToShapes.

Opening a generated scene in the editor

Section titled “Opening a generated scene in the editor”

The editor reads scene JSON, so a generated snapshot can be inspected visually: save JSON.stringify(snapshot) to a .json file and import it via the hamburger menu, or share it as a URL with the ?snapshot= parameter.

Where the boundary is

Section titled “Where the boundary is”

Trajectories exported this way run at a constant speed along the path. Triggers, event logic, speed profiles, and controller behavior (ACC, cut-in conditions, …) are authored in the editor’s scenario mode, which round-trips real-world OpenSCENARIO files with high fidelity.

See also

Section titled “See also”