YAML

Similar as for the core library, the Python bindings only exposed part of the public functionality described in the YAML cpp reference. In particular, you can load registered components

load_state_estimation(value: str) → StateEstimation | None

Load a state estimation from a YAML string.

Returns:

The loaded state estimation or None if loading fails.

load_sensor(value: str) → Sensor | None

Load a sensor from a YAML string.

Returns:

The loaded state estimation or None if loading fails.

load_task(value: str) → Task | None

Load a task from a YAML string.

Returns:

The loaded task or None if loading fails.

load_scenario(value: str) → Scenario | None

Load a scenario from a YAML string.

Returns:

The loaded scenario or None if loading fails.

in addition to navground.sim.Agent, navground.sim.World, and navground.sim.Experiment:

load_agent(value: str) → Agent | None

Load an agent from a YAML string.

Returns:

The loaded task or None if loading fails.

load_world(value: str) → World | None

Load a world from a YAML string.

Returns:

The loaded world or None if loading fails.

load_experiment(value: str) → Experiment | None

Load a experiment from a YAML string.

Returns:

The loaded experiment or None if loading fails.

You can dump objects of the same classes to YAML:

dump(obj: Behavior | BehaviorModulation | Kinematics | Disc | LineSegment | Neighbor | Task | StateEstimation | Scenario | Experiment | Agent | World | Wall | Obstacle | Sampler) → str

Dumps the object to a YAML-string.

Returns:

The YAML representation

Return type:

str

Note

Like for navground.core, functions load_<component>() and methods <Component>.load() are equivalent, like for example navground.sim.load_task() and navground.sim.Task.load().

Similar is valid for function navground.sim.dump() and methods <Component>.dump, such as navground.sim.Task.dump().

Schema

navground.sim schemas are more complex than navground.core schemas due to the presence of samplers.

module:

navground.sim.schema

register(modifier: SchemaModifier) → staticmethod[[Schema], None]

Register a custom JSON-schema for a class

Use it as:

>>> class MyClass(Class, name=...):
>>>
>>> @schema.register
>>> def modifier(schema: dict[str, typing.Any]) -> None:
>>>     ...

Parameters:

modifier – A modifier

Returns:

The registered static method

Return type:

staticmethod

bundle()

bundle_schema() -> object

Returns the bundle json-schema

Returns:

json-schema

Return type:

dict[str, typing.Any]