Limits¶

Parameter Value Limits¶

Limits act as a safety rail for scene editing. When limited_mode is enabled on an editor, every method decorated with check_value_limits() validates its numeric arguments against the bounds in DEFAULT_VALUE_LIMITS before any trajectory computation takes place. This prevents accidental large displacements or rotations that would produce unrealistic scenes — for example, a 500 m forward shift or a 180° yaw applied to an actor in a single call. The limits are intentionally conservative: they cover typical sensor-noise corrections and minor augmentation ranges, not large-scale scene restructuring. To bypass them for a specific operation, set limited_mode = False on the editor, or pass the raw TrajectoryEditor API directly.

Example — enabling limits and catching a violation

# This is fine: 5 m forward is within [-20, +20]
scene.actor(4).shift(forward=5)

# This line below raises ValueError: 50 m exceeds the +20 m bound
scene.actor(4).shift(forward=50)
# ValueError: Parameter 'forward'=50.0 outside [-15.0,15.0] in shift.

Example — temporarily disabling limits

scene.limited_mode = False
scene.actor(4).shift(forward=50)   # now allowed
scene.limited_mode = True

Example — using a custom limits dict

from mimic_scene_edition.core.limits import DEFAULT_SCENE_ACTOR_VALUE_LIMITS

# Widen the forward limit for scene actors only
my_limits = {**DEFAULT_SCENE_ACTOR_VALUE_LIMITS, "forward": (-40.0, 40.0)}
scene.scene_actor_value_limits = my_limits

scene.actor(4).shift(forward=40)  # now allowed

Ego vehicle — DEFAULT_EGO_VALUE_LIMITS

Applied to EgoEditor and SensorEditor methods.

Parameter	Min	Max
`forward` / `backward`	−20 m	+20 m
`left` / `right`	−5 m	+5 m
`up` / `down`	−2.0 m	+2.0 m
`roll`	−20 °	+20 °
`pitch`	−3 °	+25 °
`yaw`	−45 °	+45 °

Scene actors — DEFAULT_SCENE_ACTOR_VALUE_LIMITS

Applied to ActorEditor methods when the actor was already present in the original scene.

Parameter	Min	Max
`forward` / `backward`	−15 m	+15 m
`left` / `right`	−5 m	+5 m
`up` / `down`	−0.15 m	+0.15 m
`roll`	−10 °	+10 °
`pitch`	−2 °	+2 °
`yaw`	−10 °	+10 °

External actors — DEFAULT_EXTERNAL_ACTOR_VALUE_LIMITS

Applied to actors that originate outside the scene (those with a base_folderpath). Limits are intentionally wider to allow full repositioning.

Parameter	Min	Max
`forward` / `backward`	−50 m	+50 m
`left` / `right`	−50 m	+50 m
`up` / `down`	−0.25 m	+0.25 m
`roll`	−10 °	+10 °
`pitch`	−45 °	+45 °
`yaw`	−180 °	+180 °

Temporal (all categories)

The following limits are identical across all three categories.

Parameter	Min	Max	Applies to
`duration`	10 frames	90 frames	`lane_change()`, `stop()`, `smooth_lane_change()`, `evasive_maneuver()`
`offset_frame`	−20 frames	+20 frames	`offset()`, `offset_actor()`
`period`	30 frames/rev	90 frames/rev	`spin()`

mimic_scene_edition.core.limits.DEFAULT_EGO_VALUE_LIMITS: dict[str, tuple[float, float]] = {'backward': (-20.0, 20.0), 'down': (-2.0, 2.0), 'duration': (10, 90), 'forward': (-20.0, 20.0), 'left': (-5.0, 5.0), 'offset_frame': (-20, 20), 'period': (30, 90), 'pitch': (-3.0, 25.0), 'right': (-5.0, 5.0), 'roll': (-20.0, 20.0), 'up': (-2.0, 2.0), 'yaw': (-45.0, 45.0)}¶: Default allowed ranges for ego vehicle methods.

mimic_scene_edition.core.limits.DEFAULT_SCENE_ACTOR_VALUE_LIMITS: dict[str, tuple[float, float]] = {'backward': (-15.0, 15.0), 'down': (-0.15, 0.15), 'duration': (10, 90), 'forward': (-15.0, 15.0), 'left': (-5.0, 5.0), 'offset_frame': (-20, 20), 'period': (30, 90), 'pitch': (-2.0, 2.0), 'right': (-5.0, 5.0), 'roll': (-10.0, 10.0), 'up': (-0.15, 0.15), 'yaw': (-10.0, 10.0)}¶: Default allowed ranges for scene actors (actors present at load time).

mimic_scene_edition.core.limits.DEFAULT_EXTERNAL_ACTOR_VALUE_LIMITS: dict[str, tuple[float, float]] = {'backward': (-50.0, 50.0), 'down': (-0.25, 0.25), 'duration': (10, 90), 'forward': (-50.0, 50.0), 'left': (-50.0, 50.0), 'offset_frame': (-20, 20), 'period': (30, 90), 'pitch': (-45.0, 45.0), 'right': (-50.0, 50.0), 'roll': (-10.0, 10.0), 'up': (-0.25, 0.25), 'yaw': (-180.0, 180.0)}¶: Default allowed ranges for external actors (actors with a base_folderpath).

mimic_scene_edition.core.limits.DEFAULT_VALUE_LIMITS: dict[str, tuple[float, float]] = {'backward': (-20.0, 20.0), 'down': (-2.0, 2.0), 'duration': (10, 90), 'forward': (-20.0, 20.0), 'left': (-5.0, 5.0), 'offset_frame': (-20, 20), 'period': (30, 90), 'pitch': (-3.0, 25.0), 'right': (-5.0, 5.0), 'roll': (-20.0, 20.0), 'up': (-2.0, 2.0), 'yaw': (-45.0, 45.0)}¶: Backward-compatible alias — defaults to ego limits.