Using Agents in Artificial Scenarios

[YanBaoOVO]

Describe our question or idea
I am currently working on a project that demands self-created scenarios that allow the ego vehicle to accelerate to a certain speed before importing existing agents from models on the leaderboard to accomplish the task of dodging obstacles that needs to be placed at a precise location. I noticed that Scenario Runner only allows agents in route-based scenarios.

parser.add_argument(
        '--agent', help="Agent used to execute the route. Not compatible with non-route-based scenarios.")

Is there any way to bypass this and use agents in scenarios that are written in the OpenSCENARIO format? Or is there any other workarounds to achieve my goal?

Any help is appreciated! Thanks so much!

Desktop (please complete the following information):

• OS: [e.g. Ubuntu 24.04]
• CARLA Version [e.g. CARLA 0.9.10]
• Python version [e.g. 3.7.10]
• Version [e.g. 0.9.9]