Verse Core Library

Verse is a library for creating, simulating, and verifying universes or scenarios with intelligent and interacting autonomous agents.

Installation

The package requires python 3.8+. The package can be installed using pip

python3 -m pip install -e .

To update the dependencies, setup.py or requirement.txt can be used.

python3 setup.py install

or

pip install -r requirements.txt

Demos

The package comes with several examples in the demo/ folder. Run these as:

python3 demo/vehicle/demo2.py 

Read the comments in demo/ball/ball_bounces.py to learn how to create new agents and scenarios. More detailed tutorials will be provided later.

Library structure

The source code of the package is contained in the verse folder, which contains the following sub-directories.

• verse, which contains building blocks for creating and analyzing scenarios.

  • verse/scenario contains code for the scenario base class. A scenario is constructed by several agents with continuous dynamics and controller, a map and a sensor defining how different agents interact with each other.
  • verse/agents contains code for the agent base class in the scenario.
  • verse/map contains code for the lane map base class and corresponding utilities in the scenario.
  • verse/code_parser contains code for converting the controller code to ASTs.
  • verse/automaton contains code implementing components in hybrid-automaton
  • verse/analysis contains the Simulator and Verifier and related utilities for doing analysis of the scenario
  • verse/dryvr dryvr for computing reachable sets

• example contains example map, sensor and agents that we provided

• plotter contains code for visualizing the computed results