Scenarios

Scenario JSON files keep map size, terrain profile, obstacle definitions, benchmark seeds, semantic tags, and recommended vehicle settings outside runtime code.

Scenario files

File	Use case	Notes
Static_Map.json	Static obstacle navigation	Baseline map for planning, sensing checks, and deterministic experiments.
Dynamic_Map.json	Dynamic interaction	Useful for moving-agent and obstacle-avoidance experiments.
NarrowMap.json	Narrow passage mapping	Canyon-like traversal and local mapping.
PaleMap.json	Alternative map profile	Visual and navigation variation for regression checks.

Map actions

Action	Payload	Result
set_scenario	{scenario, seed}	Regenerates the map by scenario name.
generate_map	{scenario?, seed?}	Generates a named or default procedural terrain.
get_map_info	{}	Returns dimensions, path points, scenario name, and map metadata.
get_terrain_grid	{cell_size, inflation_radius, include_static_obstacles, include_dynamic_agents}	Returns occupancy and class grids for planners.

Dynamic agents

Dynamic AUV-like agents are managed separately from static obstacle geometry so planners can distinguish fixed map structure from moving targets.

API	Purpose
spawn_agent(config)	Create a dynamic proxy AUV or obstacle agent.
move_agent(id, position)	Teleport or reposition an existing dynamic agent.
set_agent_velocity(id, velocity)	Drive a proxy agent with an external velocity vector.
configure_acoustic_comm(...)	Configure underwater communication latency, bandwidth, range, and packet drop rate.

Agent schema fields

Every scenario declares an agents array. The main AUV entry is metadata for the physical vehicle already present in the scene; non-main entries can be spawned by the scenario loader.

Field	Purpose
schema_version	Version of the agent definition format.
agent_name	Stable runtime identifier such as auv/main or target_01.
agent_type	Logical role such as main_auv or proxy_auv.
is_main_agent	true for the scene-owned physical AUV; false for dynamic proxy agents.
profile	Vehicle profile or runtime profile name.
location / rotation	Initial pose fields.
control_scheme	One of force_3d, body_force_3d, thrusters, external_velocity, waypoint_pid, body_wrench_6dof, body_velocity_6dof, or custom_dynamics_6dof.
sensors	Sensor names or sensor declaration dictionaries.
metadata	Role, semantic label, tags, and experiment-specific annotations.