Scenario

Behavior sampler

Sampler of behaviors, replaces types in Behavior with samplers of the same type.

$id: http://navground/behavior_sampler
$ref: behavior_sampler_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  heading:
    $defs:
      of:
        $dynamicAnchor: T
        enum:
        - target_point
        - target_angle
        - target_angular_speed
        - velocity
        - idle
    $id: heading
    $ref: sampler
  horizon:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: horizon
    $ref: number_sampler
  modulations:
    items:
      $ref: behavior_modulation_sampler
    type: array
  optimal_angular_speed:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: optimal_angular_speed
    $ref: number_sampler
  optimal_speed:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: optimal_speed
    $ref: number_sampler
  path_look_ahead:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: path_look_ahead
    $ref: number_sampler
  path_tau:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: path_tau
    $ref: number_sampler
  rotation_tau:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: rotation_tau
    $ref: number_sampler
  safety_margin:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: safety_margin
    $ref: number_sampler
  type:
    type: string
type: object
unevaluatedProperties: false

Behavior modulation sampler

Sampler of behavior modulations, replaces types in Behavior Modulation with samplers of the same type.

$id: http://navground/behavior_modulation_sampler
$ref: behavior_modulation_sampler_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  enabled:
    $defs:
      of:
        $dynamicAnchor: T
        type: boolean
    $id: enabled
    $ref: sampler
  type:
    type: string
type: object
unevaluatedProperties: false

Kinematics sampler

Sampler of kinematics, replaces types in Kinematics with samplers of the same type.

$id: http://navground/kinematics_sampler
$ref: kinematics_sampler_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  max_angular_speed:
    $defs:
      of:
        $dynamicAnchor: T
        type: number
    $id: max_angular_speed
    $ref: number_sampler
  max_speed:
    $defs:
      of:
        $dynamicAnchor: T
        type: number
    $id: max_speed
    $ref: number_sampler
  type:
    type: string
type: object
unevaluatedProperties: false

State estimation sampler

Sampler of state estimations, replaces types in State estimation with samplers of the same type.

$id: http://navground/state_estimation_sampler
$ref: state_estimation_sampler_register
$schema: https://json-schema.org/draft/2020-12/schema
type: object
unevaluatedProperties: false

Task sampler

Sampler of tasks, replaces types in Task with samplers of the same type.

$id: http://navground/task_sampler
$ref: task_sampler_register
$schema: https://json-schema.org/draft/2020-12/schema
type: object
unevaluatedProperties: false

Group

Sampler of agents: similar to Agent but uses the sampler schemas to populate the agent components.

$id: http://navground/group
$schema: https://json-schema.org/draft/2020-12/schema
additionalProperties: false
properties:
  behavior:
    $ref: behavior_sampler
  color:
    $defs:
      of:
        $dynamicAnchor: T
        items:
          type: string
        type: array
    $id: color
    $ref: sampler
  control_period:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: control_period
    $ref: number_sampler
  id:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: integer
    $id: id
    $ref: number_sampler
  kinematics:
    $ref: kinematics_sampler
  name:
    $defs:
      of:
        $dynamicAnchor: T
        type: string
    $id: name
    $ref: sampler
  number:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: integer
    $id: number
    $ref: number_sampler
  orientation:
    $defs:
      of:
        $dynamicAnchor: T
        type: number
    $id: orientation
    $ref: number_sampler
  position:
    $defs:
      of:
        $dynamicAnchor: T
        $ref: vector2
    $id: position
    $ref: vector_sampler
  radius:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: radius
    $ref: number_sampler
  speed_tolerance:
    $defs:
      of:
        $dynamicAnchor: T
        minimum: 0
        type: number
    $id: speed_tolerance
    $ref: number_sampler
  state_estimation:
    $ref: state_estimation_sampler
  tags:
    $defs:
      of:
        $dynamicAnchor: T
        type: string
    $id: tags
    $ref: sampler
  task:
    $ref: task_sampler
  type:
    $defs:
      of:
        $dynamicAnchor: T
        type: string
    $id: type
    $ref: sampler
type: object

Note

Almost all fields in these schemas are samplers with the exception of the type field of registered components, which is a scalar string.

Example

type: my_agent_type
name: my_group
number: 4
kinematics:
  type: Omni
  # implicit constant
  max_speed: 1.0
behavior:
  type: HL
  safety_margin:
    # explicit constant
    sampler: constant
    value: 0.5
  # implicit sequence
  tau: [0.1, 0.2, 0.2, 0.1]
state_estimation:
  type: Bounded
  # explicit sequence
  range:
    sampler: sequence
    value: [0.5, 1.0, 1.5, 2.0]
# regular
radius:
  sampler: regular
  from: 0.1
  to: 0.5
  number: 4
# grid
position:
  sampler: regular
  from: [0, 0]
  to: [10, 10]
  number: [2, 2]
# step
orientation:
  sampler: regular
  from: 0
  step: 0.1
control_step:
  # uniform random
  sampler: uniform
  from: 0.1
  to: 0.2

Scenario

Scenarios are generators of worlds: similar to World but using Group instead of a list of agent_yaml.

$id: http://navground/scenario
$ref: scenario_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  bounding_box:
    $ref: bounding_box
  groups:
    items:
      $ref: group
    type: array
  obstacles:
    items:
      $ref: obstacle
    type: array
  walls:
    items:
      $ref: wall
    type: array
type: object
unevaluatedProperties: false

Example

walls:
  - line: [[-1.0, -1.0], [-1.0, 1.0]]
obstacles:
  -
    position: [2.0, 0.0]
    radius: 0.5
groups:
  - type: my_type
    number: 2
    kinematics:
      type: Omni
      max_speed: 1.0
    behavior:
      type: Dummy
    radius: 0.1
    control_period: 0.1

Register

Like all the other components, scenarios have a schema that includes all registered sub-classes:

$id: http://navground/scenario_register
$schema: https://json-schema.org/draft/2020-12/schema
anyOf:
- properties:
    orientation_noise:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0
          description: Noise added to the initial orientation
          minimum: 0
          type: number
      $id: orientation_noise
      $ref: number_sampler
    position_noise:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0
          description: Noise added to the initial position
          minimum: 0
          type: number
      $id: position_noise
      $ref: number_sampler
    radius:
      $defs:
        of:
          $dynamicAnchor: T
          default: 1
          description: Radius of the circle
          minimum: 0
          type: number
      $id: radius
      $ref: number_sampler
    shuffle:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0
          description: Whether to shuffle the agents before initializing them
          type: number
      $id: shuffle
      $ref: number_sampler
    tolerance:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0.100000001
          description: Goal tolerance
          exclusiveMinimum: 0
          type: number
      $id: tolerance
      $ref: number_sampler
    type:
      const: Antipodal
- properties:
    add_safety_to_agent_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: true
          description: Whether to add the safety margin to the agent margin
          type: boolean
      $id: add_safety_to_agent_margin
      $ref: sampler
    agent_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0.100000001
          description: initial minimal distance between agents
          minimum: 0
          type: number
      $id: agent_margin
      $ref: number_sampler
    length:
      $defs:
        of:
          $dynamicAnchor: T
          default: 10
          description: Corridor length
          exclusiveMinimum: 0
          type: number
      $id: length
      $ref: number_sampler
    type:
      const: Corridor
    width:
      $defs:
        of:
          $dynamicAnchor: T
          default: 1
          description: Corridor width
          exclusiveMinimum: 0
          type: number
      $id: width
      $ref: number_sampler
- properties:
    add_safety_to_agent_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: true
          description: Whether to add the safety margin to the agent margin
          type: boolean
      $id: add_safety_to_agent_margin
      $ref: sampler
    agent_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0.100000001
          description: initial minimal distance between agents
          minimum: 0
          type: number
      $id: agent_margin
      $ref: number_sampler
    side:
      $defs:
        of:
          $dynamicAnchor: T
          default: 2
          description: Distance between targets
          exclusiveMinimum: 0
          type: number
      $id: side
      $ref: number_sampler
    target_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0.5
          description: Initial minimal distance between agents and targets
          minimum: 0
          type: number
      $id: target_margin
      $ref: number_sampler
    tolerance:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0.25
          description: Goal tolerance
          exclusiveMinimum: 0
          type: number
      $id: tolerance
      $ref: number_sampler
    type:
      const: Cross
- properties:
    add_safety_to_agent_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: true
          description: Whether to add the safety margin to the agent margin
          type: boolean
      $id: add_safety_to_agent_margin
      $ref: sampler
    agent_margin:
      $defs:
        of:
          $dynamicAnchor: T
          default: 0.100000001
          description: initial minimal distance between agents
          minimum: 0
          type: number
      $id: agent_margin
      $ref: number_sampler
    side:
      $defs:
        of:
          $dynamicAnchor: T
          default: 2
          description: Distance between targets
          exclusiveMinimum: 0
          type: number
      $id: side
      $ref: number_sampler
    type:
      const: CrossTorus
- properties:
    type:
      const: Simple