Experiment

Schema

RecordNeighborsConfig

$id: http://navground/record_neighbors_config
$schema: https://json-schema.org/draft/2020-12/schema
additionalProperties: false
properties:
  enabled:
    type: boolean
  number:
    minimum: 0
    type: integer
  relative:
    type: boolean
type: object

RecordSensignConfig

$id: http://navground/record_sensing_config
$schema: https://json-schema.org/draft/2020-12/schema
additionalProperties: false
properties:
  agent_indices:
    items:
      type: integer
    type: array
  name:
    type: string
  sensor:
    $ref: state_estimation
type: object

Experiment

$id: http://navground/experiment
$schema: https://json-schema.org/draft/2020-12/schema
additionalProperties: false
properties:
  name:
    type: string
  record_actuated_cmd:
    type: boolean
  record_cmd:
    type: boolean
  record_collisions:
    type: boolean
  record_deadlocks:
    type: boolean
  record_efficacy:
    type: boolean
  record_neighbors:
    $ref: record_neighbors_config
  record_pose:
    type: boolean
  record_safety_violation:
    type: boolean
  record_sensing:
    $ref: record_sensing_config
  record_target:
    type: boolean
  record_task_events:
    type: boolean
  record_time:
    type: boolean
  record_twist:
    type: boolean
  record_world:
    type: boolean
  reset_uids:
    type: boolean
  run_index:
    minimum: 0
    type: integer
  runs:
    minimum: 0
    type: integer
  save_directory:
    type: string
  scenario:
    $ref: scenario
  steps:
    minimum: 0
    type: integer
  terminate_when_all_idle_or_stuck:
    type: boolean
  time_step:
    minimum: 0
    type: number
  use_agent_uid_as_key:
    type: boolean
type: object

Example

time_step: 0.1
steps: 1000
runs: 10
save_directory: data
record_pose: true
record_collisions: true
terminate_when_all_idle_or_stuck: true
scenario:
  type: Cross
  agent_margin: 0.125
  side: 6
  tolerance: 0.25
  walls:
    - line: [[-1.0, -1.0], [-1.0, 1.0]]
  obstacles:
    -
      position: [2.0, 0.0]
      radius: 0.5
  groups:
    - behavior:
        type: HL
        horizon: 1
      kinematics:
        type: 2WDiff
        wheel_axis: 0.125
        max_speed: 0.25
      radius: 0.15
      control_period: 0.1
      number: 4