Add regression tests for start pose and Frenet XY lookup - #17
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Add regression tests for start pose and Frenet XY lookup#17cursor[bot] wants to merge 2 commits into
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Cover State.set_start/reset, BasicSim pose restore without despawn, factory c40_start_pose wiring, and convert_sd_to_xy extrapolation before the path start. Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
executer.ego_state aliases pm.ego_vehicle; assert distinct plant ego via world.get_ego_state(). Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
This was referenced Jul 31, 2026
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Summary
Adds focused regression coverage for recent merged behavior that shipped without matching tests.
Risky behavior now covered
State.set_start/reset: profile start snapshot restores full agent state (including velocity/type), not just x/y/thetaBasicSim.reset: restores ego + NPC start poses and keeps agents/controllers (does not despawn)executor_factory+c40_start_pose: world and stack ego both initialize from the profile start pose; empty list falls back to plan startTrajectoryTracker.convert_sd_to_xy: Frenetsbefore path start extrapolates along the first segment instead of snapping to wp0Test files added/updated
test/c10_perception/test_c11_state_start_reset.py(new)test/c40_execution/test_c46_basic_sim_spawn.pytest/c50_common/test_c54_trajectory_waypoint_update.pytest/c60_apps/test_c62_factory_smoke.pyWhy this reduces regression risk
These paths sit on reset/spawn, stack assembly, and Frenet geometry used by planners/controllers. Silent regressions here break simulation reset, wrong spawn velocity restore, mis-placed ego at startup, and incorrect lateral/path conversions near the trajectory start.
Validation
All 30 tests passed. No production code changes.