{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "tr-c1-episode/1",
  "title": "Case 1 lock-step ART runner: one episode",
  "description": "Validated (with defaults filled) by art_runner/config.py:normalize. Unknown keys are rejected. All times must be multiples of the 1 ms physics step. The episode file given to campaign.py is a JSON list of these objects (or {\"episodes\": [...]}).",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "episode_id",
    "scenario_id",
    "controller",
    "reference",
    "initial_pose",
    "horizon_s",
    "latency"
  ],
  "properties": {
    "schema": {
      "const": "tr-c1-episode/1"
    },
    "episode_id": {
      "type": "string",
      "pattern": "^[A-Za-z0-9_.\\-]{1,160}$",
      "description": "unique; output directory name; resume key"
    },
    "scenario_id": {
      "type": "string",
      "pattern": "^[A-Za-z0-9_.\\-]{1,160}$",
      "description": "groups episodes that share a perturbation draw across controllers"
    },
    "controller": {
      "type": "string",
      "description": "released controllers run verbatim (unmodified) through the released ROS node: mpc | nnmpc | pid | nnhd. Simulation-only plug-ins: plugin:<name> with <name> in replica_pid | pure_pursuit | stanley | wrapped_released | mpc_n5 (config.normalize rejects any other name; registered controller ids in default_config.json controller_registry).",
      "pattern": "^(mpc|nnmpc|pid|nnhd|plugin:[a-z0-9_]+)$"
    },
    "controller_params": {
      "type": "object",
      "description": "plug-ins only (released controllers take no parameters); unknown keys and non-finite values are rejected (art_runner/config.py PLUGIN_PARAM_SPECS). wrapped_released: {base (required): mpc|nnmpc|pid|nnhd, steering_scale (1.0), shared_speed (false), kp_speed (1.0), throttle_bias (0.0)}. pure_pursuit: {lookahead_m (1.0, > 0), wheelbase_m (0.5, > 0), k_v (1.0), throttle_ff (0.0)}. stanley: {k (1.0), softening (0.5, >= 0), k_v (1.0), throttle_ff (0.0)}. Pure pursuit and Stanley throttle = clip(throttle_ff + k_v (v_ref - v), 0, 1). mpc_n5, replica_pid: no parameters."
    },
    "reference": {
      "oneOf": [
        {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "type",
            "name"
          ],
          "properties": {
            "type": {
              "const": "released_csv"
            },
            "name": {
              "type": "string",
              "description": "stem in /sbel/Desktop/waypoints_paths, e.g. path_iros_1, path_iros_2, lot17_sinsquare, straight_line"
            }
          }
        },
        {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "type",
            "name"
          ],
          "properties": {
            "type": {
              "const": "csv_transformed"
            },
            "name": {
              "type": "string"
            },
            "rotate": {
              "type": "number",
              "description": "rad, about the origin, applied first; yaw += rotate (wrapped)"
            },
            "dx": {
              "type": "number"
            },
            "dy": {
              "type": "number"
            }
          }
        },
        {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "type"
          ],
          "properties": {
            "type": {
              "const": "straight"
            },
            "x0": {
              "type": "number",
              "default": 0
            },
            "y0": {
              "type": "number",
              "default": 0
            },
            "heading": {
              "type": "number",
              "default": 0
            },
            "s_start": {
              "type": "number",
              "default": -10
            },
            "s_end": {
              "type": "number",
              "default": 60
            },
            "spacing": {
              "type": "number",
              "default": 0.1
            },
            "v_ref": {
              "type": "number",
              "default": 1.0
            }
          }
        },
        {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "type",
            "points"
          ],
          "properties": {
            "type": {
              "const": "array"
            },
            "points": {
              "type": "array",
              "items": {
                "type": "array",
                "minItems": 4,
                "maxItems": 4
              }
            }
          }
        }
      ]
    },
    "initial_pose": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "x",
        "y",
        "yaw"
      ],
      "properties": {
        "x": {
          "type": "number"
        },
        "y": {
          "type": "number"
        },
        "yaw": {
          "type": "number",
          "description": "rad, CCW positive"
        },
        "frame": {
          "enum": [
            "chassis_ref",
            "cog"
          ],
          "default": "chassis_ref",
          "description": "chassis_ref: ARTcar::SetInitPosition (as demo_ROS_dART.cpp, z=0.25, at rest). cog: (x,y) is the chassis COG (the position the controller observes); converted with the chassis COM offset (-0.1336,-0.0014) m rotated by yaw."
        }
      }
    },
    "horizon_s": {
      "type": "number",
      "exclusiveMinimum": 0,
      "maximum": 3600,
      "description": "fixed horizon (fixed_horizon) or timeout (path_completion), sim time from t=0"
    },
    "control_start_s": {
      "type": "number",
      "minimum": 0,
      "default": 0,
      "description": "first controller tick (ideal) / timer origin (ros_emulated); metrics are reported relative to it"
    },
    "latency": {
      "oneOf": [
        {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "model"
          ],
          "properties": {
            "model": {
              "const": "ideal"
            },
            "controller_period_s": {
              "type": "number",
              "default": 0.1
            }
          }
        },
        {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "model",
            "controller_phase_s",
            "compute_delay_s"
          ],
          "properties": {
            "model": {
              "const": "ros_emulated"
            },
            "controller_phase_s": {
              "type": "number",
              "minimum": 0,
              "description": "offset of the controller timer relative to control_start_s (NO default; to be calibrated)"
            },
            "compute_delay_s": {
              "type": "number",
              "minimum": 0,
              "description": "tick -> message arrival at the simulator (NO default; to be calibrated)"
            },
            "state_delay_s": {
              "type": "number",
              "minimum": 0,
              "default": 0,
              "description": "publication -> visible to controller"
            },
            "controller_period_s": {
              "type": "number",
              "default": 0.1
            },
            "state_rate_hz": {
              "type": "number",
              "default": 25
            },
            "driver_rate_hz": {
              "type": "number",
              "default": 10
            }
          }
        }
      ]
    },
    "perturbation": {
      "type": "object",
      "additionalProperties": false,
      "properties": {
        "steering_bias": {
          "type": "number",
          "minimum": -1,
          "maximum": 1,
          "default": 0,
          "description": "added to the steering command at the driver (then ChDriver clamps to [-1,1])"
        },
        "actuation_delay_s": {
          "type": "number",
          "minimum": 0,
          "maximum": 10,
          "default": 0,
          "description": "extra delay between tick and application (ideal) / message arrival (ros_emulated)"
        },
        "friction": {
          "type": [
            "number",
            "null"
          ],
          "minimum": 0,
          "maximum": 2,
          "default": null,
          "description": "terrain Coefficient of Friction override (null = unchanged RigidPlane.json, 0.9). TMEASY clamps to [0.1,1.0]."
        },
        "obs_noise": {
          "type": "object",
          "additionalProperties": false,
          "properties": {
            "seed": {
              "type": "integer",
              "minimum": 0,
              "default": 0
            },
            "std_x": {
              "type": "number",
              "minimum": 0,
              "default": 0
            },
            "std_y": {
              "type": "number",
              "minimum": 0,
              "default": 0
            },
            "std_yaw": {
              "type": "number",
              "minimum": 0,
              "default": 0
            }
          },
          "description": "Gaussian noise added to the pose seen by the controller (position; yaw as a rotation about world z); metrics use the true state. The noise belongs to the observed state PUBLICATION (ros_emulated: its 25 Hz publication boundary k; ideal: the tick boundary k): (std_x, std_y, std_yaw) x standard_normal(3) from numpy default_rng(SeedSequence([7301, seed, k])). All three components are always drawn, so conditions that differ only in the stds share the same draws, and a publication seen by two ticks has the same noise."
        }
      }
    },
    "termination": {
      "type": "object",
      "additionalProperties": false,
      "properties": {
        "type": {
          "enum": [
            "fixed_horizon",
            "path_completion"
          ],
          "default": "fixed_horizon"
        },
        "tube_lat_m": {
          "type": "number",
          "default": 0.1
        },
        "tube_head_rad": {
          "type": "number",
          "default": 0.1
        },
        "divergence_dist_m": {
          "type": "number",
          "default": 5.0,
          "description": "distance from COG to the nearest waypoint"
        },
        "divergence_hold_s": {
          "type": "number",
          "default": 2.0
        },
        "stop_on_divergence": {
          "type": "boolean",
          "default": true
        },
        "completion_margin_s": {
          "type": "number",
          "default": 0.0,
          "description": "path_completion: keep simulating this long after completion"
        }
      }
    },
    "on_controller_failure": {
      "enum": [
        "hold_last_command",
        "terminate"
      ],
      "default": "hold_last_command",
      "description": "after controller_solver_failure / controller_exception / non-finite output the controller is dead (the released ROS node would crash); hold_last_command keeps the last applied command (what the ChROSDriverInputsHandler does) until the horizon."
    },
    "replicate_waypoint_boxes": {
      "type": "boolean",
      "default": false,
      "description": "add the original fixed non-colliding visual waypoint boxes (released_csv only); bitwise no-op, for equivalence tests"
    },
    "replicate_visual_setters": {
      "type": "boolean",
      "default": false
    },
    "tags": {
      "type": "object",
      "description": "free-form metadata copied to the config record"
    },
    "mpc_osqp_adaptive_rho_interval": {
      "type": [
        "integer",
        "null"
      ],
      "minimum": 1,
      "default": 25,
      "description": "OSQP adaptive_rho_interval injected into the released MPC's prob.setup (also for plug-ins calling it). The released code leaves it at 0, which OSQP 0.6 resolves from WALL-CLOCK time (nondeterministic under CPU load). 25 reproduces every archived nominal-sim MPC command exactly and is the deterministic default; null = released time-based behaviour."
    }
  }
}