Roadrunner Import SceneSAFE

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The instruction file, verbatim from the audited commit — this is the text the model reads, and the surface the audit's instruction layer examines. Quoted here so you can judge it without cloning anything.

---
name: roadrunner-import-scene
description: >
  Import HD Map or OpenDRIVE files into a RoadRunner scene using MATLAB.
  Use when loading driving scenes in RoadRunner or RoadRunner Scene Builder, importing RRHD,
  OpenDRIVE, or other RoadRunner-supported formats for simulation, or verifying
  Lanelet2-to-RRHD conversion results visually. Requires rrApp handle from roadrunner-core.
license: https://www.mathworks.com/content/dam/mathworks/license/pmrl/license.md
metadata:
  author: MathWorks
  version: "1.1"
---

# RoadRunner Scene Import

Import map files into a RoadRunner scene for visualization, verification, and building.

## When to Use

- Importing a `.rrhd` file into RoadRunner for visual verification
- Importing an OpenDRIVE `.xodr` file into RoadRunner
- Verifying converted maps after Lanelet2-to-RRHD or other conversions
- Configuring build options (asphalt surfaces, bridge detection, junction preservation)

## When NOT to Use

- Launching RoadRunner or managing projects — use `roadrunner-core`
- Building RRHD map content — use `roadrunner-rrhd-authoring`
- Converting Lanelet2 to RRHD — use `roadrunner-convert-lanelet2-to-rrhd`
- Looking up asset paths — use `roadrunner-asset-mapping`

## Key Rules

- **Always write to .m files** when executing code. Never put multi-line MATLAB code directly in `evaluate_matlab_code`. Write to a `.m` file, run with `run_matlab_file`, edit on error. Exception: if the user asks to "show the pattern" or says "do not execute", show code inline without writing files.
- **Requires `rrApp` from `roadrunner-core`.** Do not launch or connect to RoadRunner in this skill. If `rrApp` does not exist, invoke `roadrunner-core` first.
- **Always copy file to project folder.** Use `status(rrApp).Project.Filename` and `copyfile()` explicitly in every import workflow — never omit or hide behind a variable.
- **Always set `bridgeOpts.IsEnabled = true` explicitly.** Never rely on constructor defaults for bridge auto-detection.
- **Run enforcement gates before `importScene`.** File location, extension, and build-option checks are mandatory.
- **Load before Build by default.** Use `ImportStep="Load"` unless user explicitly requests a full build.
- **NEVER hardcode `DetectAsphaltSurfaces = true` for converted maps.** Always inspect the RRHD for closed-loop topology first. Closed-loop networks (most Lanelet2 conversions) MUST use `DetectAsphaltSurfaces = false` — asphalt detection fills the interior of loops.
- **ALWAYS preserve junctions when they exist.** If `tempMap.Junctions` is non-empty, you MUST set `overlapOpts.IsEnabled = true`, `overlapOpts.PreserveJunctionLanes = true`, and `overlapOpts.PreserveJunctionShape = true`. Never rely on RoadRunner's auto-detection to re-infer junctions — it discards authored geometry.

## Prerequisites

- A valid `rrApp` handle must exist (produced by `roadrunner-core` skill)
- A RoadRunner project must be open
- If `rrApp` does not exist, invoke `roadrunner-core` first to launch and connect

**Connection, launching, and project lifecycle are owned by `roadrunner-core`.** This skill assumes `rrApp` is already available.

## Import Workflow

### Step 1: Create a Fresh Scene

Always create a new scene before importing to avoid stale data:

```matlab
newScene(rrApp);
```

### Step 2: Copy File to Project (MANDATORY — always show explicitly)

RoadRunner requires imported files to be inside the project folder. You MUST always include this exact pattern in your generated code — never assume the file is already there or hide it behind a variable:

```matlab
st = status(rrApp);
projectFolder = st.Project.Filename;
[~, fileName, ext] = fileparts(sourceFile);
destFile = fullfile(projectFolder, fileName + ext);
copyfile(sourceFile, destFile);
```

**NEVER** omit the `copyfile()` call or the `status(rrApp).Project.Filename` lookup. Even if you define a `destFile` variable elsewhere, you MUST show both the project path retrieval and the copy operation explicitly in every import workflow.

### Step 3: Import the Map

#### RoadRunner HD Map (.rrhd)

**Load only (inspect RRHD view before build):**
```matlab
importOpts = roadrunnerHDMapImportOptions;
importOpts.ImportStep = "Load";
importScene(rrApp, destFile, "RoadRunner HD Map", importOpts);
```

**Full import with build (use conditional logic — NEVER hardcode asphalt/junction settings):**

Do NOT copy a fixed template. Always use the "Conditional Build Options" section below to determine the correct settings based on RRHD content. The enforcement gate will reject hardcoded `DetectAsphaltSurfaces = true` for RRHD files.

**IMPORTANT:** When enabling bridge auto-detection, you MUST always write `bridgeOpts.IsEnabled = true` explicitly. Do NOT rely on the constructor default — the line must appear in the generated code.

### Conditional Build Options (MANDATORY — apply based on map content)

Inspect the RRHD content before choosing build options. The following rules determine when to enable/disable specific settings:

| Condition | Action | Reason |
|-----------|--------|--------|
| No `Junctions` in RRHD (empty or zero) | Set `overlapOpts.IsEnabled = false` | Without explicit junction definitions, overlap detection uses only geometry and produces incorrect groupings |
| Closed-loop road network (lanes form rings) | Set `buildOpts.DetectAsphaltSurfaces = false` | Asphalt detection fills interior of closed loops, creating unwanted surface polygons |
| Explicit `Junctions` present in RRHD | Set `overlapOpts.PreserveJunctionLanes = true` and `overlapOpts.PreserveJunctionShape = true` | Preserves authored junction geometry and lane connectivity instead of re-inferring from geometry |

**Example: Import with junction-aware options:**
```matlab
importOpts = roadrunnerHDMapImportOptions;
buildOpts = roadrunnerHDMapBuildOptions;
buildOpts.ClearSceneOfExistingData = true;

% Read RRHD to inspect content before build
tempMap = roadrunnerHDMap;
read(tempMap, destFile);

% Conditional: asphalt surfaces
hasCl

SAFEgrade B · trust 89/100 Nothing in the source contradicts what it says it does. Grade A is reserved for packages that have also passed the behavioural sandbox.

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