TrackWaypointsAction doesn't work with CARLA

[ipirwani-blip]

System Details

1. 3.12.3
2. 3.1.0
3. Ubuntu 24.04.3
4. CARLA 0.9.16

Detailed Description

1. Description

Given a trajectory (space-time curve) over discrete, uniform time intervals, I'd like to create an agent that tracks the trajectory. Looking at the API, TrackWaypointsAction(...) is the closest one that's been implemented for CARLA. However, I can't get this API to work with CARLA. Even when we provide a uniform speed for the geometric curve, it doesn't work. Here's the code snippet:

behavior FollowRecordedTrajectory(waypoints, target_speed=1.5):
    while True:
        take TrackWaypointsAction(waypoints, cruising_speed=target_speed)

2. Command

scenic --2d --model scenic.simulators.carla.model --simulate --count 1 test.scenic -b --seed 1234

3. Issue

What I end up seeing is that car just starts spinning in circles.

Steps To Reproduce

Please see above.

Issue Submission Checklist

• I am reporting an issue, not asking a question
• I checked the open and closed issues, forum, etc. and have not found any solution
• I have provided all necessary code, etc. to reproduce the issue

[Eric-Vin]

@ipirwani-blip Can you check if the issue is resolved after #435 has been merged into main?

[ipirwani-blip]

@ipirwani-blip Can you check if the issue is resolved after #435 has been merged into main?

Thanks!

Will verify on Monday.

[ipirwani-blip]

Can verify that the feature is fixed.

Thanks!