Configuration files¶
Configuration files are essential to running scenarios with IGP2. They describe, among others, the location of the road layout to use, the length of the simulation, global parameters (e.g., speed limits, sampling distances, etc.). Most importantly, they also contain a parametrisation of the various agents that should be spawned into the simulation, their goals, and their behaviour.
Configuration files should have JSON Schema Version 7 and they should end in the .json file extension.
By default, they should be placed into the scenarios/configs folder to make them accessible via the --map command line option.
This page describes in detail the structure of configuration files, including all available fields.
Configuration file structure¶
You can generate a template configuration file with the following command: python scripts/genconfig.py NAME, where is the name of the configuration file, as in NAME.json. Further command line options are available through the -h option.
Some additional remarks:
Fields with an exclamation mark (!) must always be included.
Angles should be in radians and ideally in the range [-pi,pi].
Setting many of these parameters to an appropriate value can often be non-trivial (e.g., cost weight and MCTS reward factors). You can consult the :ref:
IGP2 API <api>to get a better understand of what each value represents.
The following gives all possible field names, types, and descriptions, as well as their intended hierarchical relationship.
scenario: dict Dictionary of global options and parameters
| |____!map_path: str The path to the OpenDrive *.xodr file for the road layout
| |____fps: int Execution frequency of the simulation
| |____seed: int Random seed
| |____max_steps: int If given, stop executing simulation after this many steps
| |____n_traffic: int The number of vehicles to be managed by the TrafficManager when using CARLA
| |____**Any global parameters supported by the Configuration class in the igp2/config.py.
--------------The following is supported by all Agents-----------------
|____agents: list List of agents to spawn
| |____agent: dict Dictionary of agent to spawn
| | |____!id: int The numerical identifier of the agent
| | |____!type: str The type of the agent. Currently, only MCTSAgent and TrafficAgent is supported
| | |____!spawn: dict The spawn area of the vehicle
| | | |____!box: dict The box to spawn the vehicle in
| | | | |____!center: list[float] The center of the spawn area
| | | | |____!length: float The length of the spawn area
| | | | |____!width: float The width of the spawn area
| | | | |____!heading: float The heading of the spawn area
| | | |____velocity: list[float] The spawn velocity range for random sampling
| | |____!goal: dict The goal area of the vehicle
| | | |____!box: dict The box for the vehicle to reach
| | | | |____!center: list[float] The center of the goal area
| | | | |____!length: float The length of the goal area
| | | | |____!width: float The width of the goal area
| | | | |____!heading: float The heading of the goal area
| | |____goal_recognition: dict Any keyword arguments supported by the GoalRecognition class in igp2/recognition/goalrecognition.py
| | |____velocity_smoother: dict Any keyword arguments supported by the VelocitySmoother class in igp2/velocitysmoother.py
-----------The following is supported by TrafficAgents only---------------
| | |____macro_actions: list An ordered list of macro actions to be executed by the agent
| | | |____macro_action: dict Configuration dict of a macro action
| | | | |____type: str Type of the macro action
| | | | |____**Any other keyword arguments supported by the given macro action type above.
-----------The following is for MCTSAgents (and subclasses) only-----------
| | |____cost_factors: dict The cost weighing factors for IGP2 goal recognition
| | | |____time: float Time to goal
| | | |____velocity: float Average velocity
| | | |____acceleration: float Average acceleration
| | | |____jerk: float Average jerk
| | | |____heading: float Average heading
| | | |____angular_velocity: float Average angular velocity
| | | |____angular_acceleration: float Average angular acceleration
| | | |____curvature: float Average curvature
| | | |____safety: float Safety of trajectory
| | |____mcts: dict MCTS parameters
| | | |____t_update: float Runtime period of MCTS in seconds
| | | |____n_simulations: int Number of rollouts in MCTS
| | | |____store_results: str Either 'all' or 'final'. If absent, results are not stored
| | | |____trajectory_agents: bool Whether to use trajectory following or macro action executing agents
| | | |____reward_factors: dict MCTS reward factors
| | | | |____time: float Time to goal
| | | | |____jerk: float Average jerk
| | | | |____angular_velocity: float Average angular velocity
| | | | |____curvature: float Average curvature
| | | | |____safety: float Safety term. Currently, not used.
| | | |____**Any other keyword argument supported by the MCTS class in igp2/planning/mcts.py.
| | |____view_radius: float Radius of circle centered on the vehicle, in which it can observe the environment
| | |____stop_goals: bool Whether the agent should include stopping goals for goal recognition.