World

Schema

Wall

$id: http://navground/wall
$schema: https://json-schema.org/draft/2020-12/schema
additionalProperties: false
properties:
  line:
    items:
      $ref: vector2
    maxItems: 2
    minItems: 2
    type: array
  uid:
    type: integer
type: object

Obstacle

$id: http://navground/obstacle
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  position:
    $ref: vector2
  radius:
    minimum: 0
    type: number
  uid:
    type: integer
type: object
unevaluatedProperties: false

World

$id: http://navground/world
$schema: https://json-schema.org/draft/2020-12/schema
additionalProperties: false
properties:
  agents:
    items:
      $ref: agent
    type: array
  bounding_box:
    additionalProperties: false
    properties:
      max_x:
        type: number
      max_y:
        type: number
      min_x:
        type: number
      min_y:
        type: number
    type: object
  lattice:
    properties:
      x:
        items:
          type: number
        maxItems: 2
        minItems: 2
        type: array
      y:
        items:
          type: number
        maxItems: 2
        minItems: 2
        type: array
    type: object
  obstacles:
    items:
      $ref: obstacle
    type: array
  walls:
    items:
      $ref: wall
    type: array
type: object

Example

walls:
  - line: [[-1.0, -1.0], [-1.0, 1.0]]
obstacles:
  - position: [2.0, 0.0]
    radius: 0.5
groups:
  - kinematics:
      type: Omni
      max_speed: 1.0
    behavior:
      type: Dummy
    task:
      type: Waypoints
      waypoints: [[1.0, 0.0]]
      tolerance: 0.1
    radius: 0.1
    control_period: 0.1