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name: cooperative-simulation description: "Operate OpenCDA V2X platooning, cooperative merge, CARLA-SUMO co-simulation, SUMO map conversion, and optional ScenarioRunner/OpenSCENARIO workflows." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Cooperative simulation

Use this sub-skill when the task concerns OpenCDA connected-vehicle cooperation, platoon formation or stability, cooperative merging, SUMO traffic, or the optional ScenarioRunner/OpenSCENARIO integration.

Route

• For V2X state, communication range/lag/noise, platoon roles, FSM transitions, joining, gap control, or stability metrics, read platooning-and-v2x.md.
• For the CARLA-SUMO ownership model and per-step synchronization order, read co-simulation.md.
• For .sumocfg/.net.xml/.rou.xml preparation and OpenDRIVE conversion, read sumo-conversion.md, then run the read-only preflight checker before any external launch.
• For ScenarioRunner/OpenSCENARIO setup and the OpenCDA handoff, read scenario-runner.md.
• For a failure, start with troubleshooting.md.

Operating boundaries

The offline platoon debug helper is the native-safe candidate. A live platoon, cooperative merge, CARLA-SUMO bridge, netconvert, TraCI server, CARLA server, ScenarioRunner, and OpenSCENARIO run require external services/assets and are not implied by package import success. The inspected environment passed core OpenCDA imports, CARLA 0.9.12 client import, configuration/scientific package imports, and pip check; it did not verify a CARLA server, SUMO/SUMO_HOME, TraCI, ScenarioRunner, PyTorch, or YOLOv5.

Do not use this sub-skill to launch a simulator or convert a map implicitly. The bundled checker only reads environment, executable, XML, and file metadata; it never starts SUMO, TraCI, CARLA, ScenarioRunner, or netconvert.