diff --git a/docs/_build/html/.buildinfo b/docs/_build/html/.buildinfo
index 3a3d790f..3feef4d9 100644
--- a/docs/_build/html/.buildinfo
+++ b/docs/_build/html/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 6772999d386ae16861e09908a4c2cf1b
+config: f484401404488db1ae0db13febf43399
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/docs/_build/html/_images/tutorials_tour_41_0.png b/docs/_build/html/_images/tutorials_tour_41_0.png
index 8b516306..4e91cec6 100644
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diff --git a/docs/_build/html/_images/tutorials_tour_57_0.png b/docs/_build/html/_images/tutorials_tour_57_0.png
index eda6249c..bc6123e9 100644
Binary files a/docs/_build/html/_images/tutorials_tour_57_0.png and b/docs/_build/html/_images/tutorials_tour_57_0.png differ
diff --git a/docs/_build/html/_images/tutorials_tour_79_0.png b/docs/_build/html/_images/tutorials_tour_79_0.png
index f56c728b..d76afd6c 100644
Binary files a/docs/_build/html/_images/tutorials_tour_79_0.png and b/docs/_build/html/_images/tutorials_tour_79_0.png differ
diff --git a/docs/_build/html/_images/tutorials_tour_98_0.png b/docs/_build/html/_images/tutorials_tour_98_0.png
index e1a70699..004100b6 100644
Binary files a/docs/_build/html/_images/tutorials_tour_98_0.png and b/docs/_build/html/_images/tutorials_tour_98_0.png differ
diff --git a/docs/_build/html/_static/documentation_options.js b/docs/_build/html/_static/documentation_options.js
index 9e6b129f..e8bb182e 100644
--- a/docs/_build/html/_static/documentation_options.js
+++ b/docs/_build/html/_static/documentation_options.js
@@ -1,5 +1,5 @@
 const DOCUMENTATION_OPTIONS = {
-    VERSION: '0.0.1',
+    VERSION: '0.0.2',
     LANGUAGE: 'en',
     COLLAPSE_INDEX: false,
     BUILDER: 'html',
diff --git a/docs/_build/html/genindex.html b/docs/_build/html/genindex.html
index 4c8b836d..16fe084b 100644
--- a/docs/_build/html/genindex.html
+++ b/docs/_build/html/genindex.html
@@ -7,7 +7,7 @@
   <head>
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Index &#8212; navground 0.0.1 documentation</title>
+    <title>Index &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -27,7 +27,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -37,7 +37,7 @@
 <link rel="preload" as="script" href="_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="_static/documentation_options.js?v=3611b776"></script>
+    <script src="_static/documentation_options.js?v=f52f92e8"></script>
     <script src="_static/doctools.js?v=888ff710"></script>
     <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="_static/jquery.js?v=5d32c60e"></script>
@@ -129,7 +129,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -482,10 +482,22 @@ <h2 id="A">A</h2>
 </li>
       <li><a href="reference/core/python/common.html#navground.core.Frame.absolute">absolute (Frame attribute)</a>
 </li>
+      <li><a href="reference/core/python/common.html#navground.core.Pose2.absolute">absolute() (Pose2 method)</a>
+
+      <ul>
+        <li><a href="reference/core/python/common.html#navground.core.Twist2.absolute">(Twist2 method)</a>
+</li>
+      </ul></li>
       <li><a href="reference/core/python/controller.html#navground.core.Action">Action (class in navground.core)</a>
 </li>
-      <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.actuate">actuate() (Behavior method)</a>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.actuate">actuate() (Agent method)</a>
+
+      <ul>
+        <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.actuate">(Behavior method)</a>
 </li>
+        <li><a href="reference/sim/python/world.html#navground.sim.World.actuate">(World method)</a>
+</li>
+      </ul></li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.actuated_twist">actuated_twist (Behavior property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.actuated_wheel_speeds">actuated_wheel_speeds (Behavior property)</a>
@@ -503,16 +515,18 @@ <h2 id="A">A</h2>
       <li><a href="reference/sim/python/scenarios/scenario.html#navground.sim.Scenario.add_init">add_init() (Scenario method)</a>
 </li>
       <li><a href="reference/sim/python/world.html#navground.sim.World.add_obstacle">add_obstacle() (World method)</a>
-</li>
-      <li><a href="reference/sim/python/scenarios/cross_torus.html#navground.sim.scenarios.CrossTorusScenario.add_safety_to_agent_margin">add_safety_to_agent_margin (CrossTorusScenario property)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/scenarios/cross_torus.html#navground.sim.scenarios.CrossTorusScenario.add_safety_to_agent_margin">add_safety_to_agent_margin (CrossTorusScenario property)</a>
+</li>
       <li><a href="reference/sim/python/world.html#navground.sim.World.add_wall">add_wall() (World method)</a>
 </li>
       <li><a href="reference/sim/python/agent.html#navground.sim.Agent">Agent (class in navground.sim)</a>
 </li>
       <li><a href="reference/sim/python/scenarios/cross_torus.html#navground.sim.scenarios.CrossTorusScenario.agent_margin">agent_margin (CrossTorusScenario property)</a>
+</li>
+      <li><a href="reference/sim/python/world.html#navground.sim.World.agents">agents (World property)</a>
 </li>
       <li><a href="reference/sim/python/world.html#navground.sim.World.agents_are_idle">agents_are_idle() (World method)</a>
 </li>
@@ -545,6 +559,8 @@ <h2 id="B">B</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/core/python/behaviors/HL.html#navground.core.behaviors.HLBehavior.barrier_angle">barrier_angle (HLBehavior property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.begin_time">begin_time (Experiment property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior">Behavior (class in navground.core)</a>
 </li>
@@ -588,18 +604,28 @@ <h2 id="C">C</h2>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.check_if_target_satisfied">check_if_target_satisfied() (Behavior method)</a>
 </li>
       <li><a href="reference/core/python/controller.html#navground.core.Controller.cmd_frame">cmd_frame (Controller property)</a>
+
+      <ul>
+        <li><a href="reference/core/python/kinematics.html#navground.core.Kinematics.cmd_frame">(Kinematics property)</a>
 </li>
+      </ul></li>
       <li><a href="reference/core/python/collision_computation.html#navground.core.CollisionComputation">CollisionComputation (class in navground.core)</a>
 </li>
       <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.collisions">collisions (Trace property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/world.html#navground.sim.World.collisions">(World property)</a>
 </li>
-      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.commands">commands (Trace property)</a>
-</li>
+      </ul></li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.commands">commands (Trace property)</a>
+</li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.compute_cmd">compute_cmd() (Behavior method)</a>
 </li>
       <li><a href="reference/sim/python/world.html#navground.sim.World.compute_safety_violation">compute_safety_violation() (World method)</a>
+</li>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.control_period">control_period (Agent property)</a>
 </li>
       <li><a href="reference/core/python/controller.html#navground.core.Controller">Controller (class in navground.core)</a>
 </li>
@@ -640,9 +666,13 @@ <h2 id="D">D</h2>
       <li><a href="reference/core/python/target.html#navground.core.Target.Direction">Direction() (Target static method)</a>
 </li>
       <li><a href="reference/core/python/state.html#navground.core.Disc">Disc (class in navground.core)</a>
+</li>
+      <li><a href="reference/sim/python/world.html#navground.sim.Obstacle.disc">disc (Obstacle property)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/world.html#navground.sim.World.discs">discs (World property)</a>
+</li>
       <li><a href="reference/core/python/state.html#navground.core.LineSegment.distance_from_disc">distance_from_disc() (LineSegment method)</a>
 </li>
       <li><a href="reference/core/python/state.html#navground.core.LineSegment.distance_from_point">distance_from_point() (LineSegment method)</a>
@@ -665,6 +695,8 @@ <h2 id="D">D</h2>
         <li><a href="reference/sim/python/yaml.html#navground.sim.dump">(in module navground.sim)</a>
 </li>
       </ul></li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.duration">duration (Experiment property)</a>
+</li>
       <li><a href="reference/core/python/collision_computation.html#navground.core.CollisionComputation.dynamic_free_distance">dynamic_free_distance() (CollisionComputation method)</a>
 </li>
   </ul></td>
@@ -813,20 +845,26 @@ <h2 id="H">H</h2>
 <h2 id="I">I</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="reference/core/python/state.html#navground.core.Neighbor.id">id (Neighbor property)</a>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.id">id (Agent property)</a>
+
+      <ul>
+        <li><a href="reference/core/python/state.html#navground.core.Neighbor.id">(Neighbor property)</a>
 </li>
-      <li><a href="reference/core/python/controller.html#navground.core.Controller.idle">idle (Controller property)</a>
+      </ul></li>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.idle">idle (Agent property)</a>
 
       <ul>
+        <li><a href="reference/core/python/controller.html#navground.core.Controller.idle">(Controller property)</a>
+</li>
         <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.Heading.idle">(Heading attribute)</a>
 </li>
         <li><a href="reference/core/python/controller.html#navground.core.Action.State.idle">(State attribute)</a>
 </li>
       </ul></li>
-      <li><a href="reference/sim/python/world.html#navground.sim.World.in_collision">in_collision() (World method)</a>
-</li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/world.html#navground.sim.World.in_collision">in_collision() (World method)</a>
+</li>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.in_sight">in_sight() (SocialForceBehavior method)</a>
 </li>
       <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.index_of_agent">index_of_agent() (Trace method)</a>
@@ -859,14 +897,22 @@ <h2 id="K">K</h2>
 <h2 id="L">L</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.last_cmd">last_cmd (Agent property)</a>
+</li>
       <li><a href="reference/core/python/collision_computation.html#navground.core.CachedCollisionComputation.length">length (CachedCollisionComputation property)</a>
 
       <ul>
         <li><a href="reference/core/python/state.html#navground.core.LineSegment.length">(LineSegment property)</a>
 </li>
       </ul></li>
+      <li><a href="reference/sim/python/world.html#navground.sim.Wall.line">line (Wall property)</a>
+</li>
       <li><a href="reference/core/python/state.html#navground.core.GeometricState.line_obstacles">line_obstacles (GeometricState property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/world.html#navground.sim.World.line_obstacles">(World property)</a>
 </li>
+      </ul></li>
       <li><a href="reference/core/python/state.html#navground.core.LineSegment">LineSegment (class in navground.core)</a>
 </li>
       <li>
@@ -927,6 +973,14 @@ <h2 id="L">L</h2>
         <li><a href="reference/sim/python/yaml.html#load_world">built-in function</a>
 </li>
       </ul></li>
+      <li><a href="reference/sim/python/tasks/task.html#navground.sim.Task.log_size">log_size (Task property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/tasks/waypoints.html#navground.sim.tasks.WaypointsTask.log_size">(WaypointsTask property)</a>
+</li>
+      </ul></li>
+      <li><a href="reference/sim/python/tasks/waypoints.html#navground.sim.tasks.WaypointsTask.loop">loop (WaypointsTask property)</a>
+</li>
   </ul></td>
 </tr></table>
 
@@ -971,9 +1025,11 @@ <h2 id="M">M</h2>
 <h2 id="N">N</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="reference/core/python/common.html#navground.core.Frame.name">name (Frame property)</a>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.name">name (Experiment property)</a>
 
       <ul>
+        <li><a href="reference/core/python/common.html#navground.core.Frame.name">(Frame property)</a>
+</li>
         <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.Heading.name">(Heading property)</a>
 </li>
         <li><a href="reference/core/python/controller.html#navground.core.Action.State.name">(State property)</a>
@@ -1448,6 +1504,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/core/cpp/behaviors/HRVO.html#_CPPv4N9navground4core12HRVOBehavior12HRVOBehaviorENSt10shared_ptrI10KinematicsEEf">navground::core::HRVOBehavior::HRVOBehavior (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/kinematics.html#_CPPv4N9navground4core10KinematicsE">navground::core::Kinematics (C++ class)</a>
+</li>
+      <li><a href="reference/core/cpp/kinematics.html#_CPPv4NK9navground4core10Kinematics9cmd_frameEv">navground::core::Kinematics::cmd_frame (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/kinematics.html#_CPPv4NK9navground4core10Kinematics3dofEv">navground::core::Kinematics::dof (C++ function)</a>
 </li>
@@ -1524,6 +1582,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core14orientation_ofERK7Vector2">navground::core::orientation_of (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core5Pose2E">navground::core::Pose2 (C++ struct)</a>
+</li>
+      <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core5Pose28absoluteERK5Pose2">navground::core::Pose2::absolute (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core5Pose29integrateERK6Twist2f">navground::core::Pose2::integrate (C++ function)</a>
 </li>
@@ -1534,6 +1594,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core5Pose211orientationE">navground::core::Pose2::orientation (C++ member)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core5Pose28positionE">navground::core::Pose2::position (C++ member)</a>
+</li>
+      <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core5Pose28relativeERK5Pose2">navground::core::Pose2::relative (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core5Pose26rotateE7Radians">navground::core::Pose2::rotate (C++ function)</a>
 </li>
@@ -1567,12 +1629,12 @@ <h2 id="N">N</h2>
 </li>
       <li><a href="reference/core/cpp/property.html#_CPPv4N9navground4core8Property6SetterE">navground::core::Property::Setter (C++ type)</a>
 </li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/core/cpp/property.html#_CPPv4N9navground4core8Property9type_nameE">navground::core::Property::type_name (C++ member)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core7RadiansE">navground::core::Radians (C++ type)</a>
 </li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core6rotateEK7Vector2f">navground::core::rotate (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/social_margin.html#_CPPv4N9navground4core12SocialMarginE">navground::core::SocialMargin (C++ class)</a>
@@ -1654,6 +1716,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/core/cpp/helper.html#_CPPv4N9navground4core12TrackChanges12TrackChangesEv">navground::core::TrackChanges::TrackChanges (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core6Twist2E">navground::core::Twist2 (C++ struct)</a>
+</li>
+      <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core6Twist28absoluteERK5Pose2">navground::core::Twist2::absolute (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core6Twist213angular_speedE">navground::core::Twist2::angular_speed (C++ member)</a>
 </li>
@@ -1662,8 +1726,12 @@ <h2 id="N">N</h2>
       <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core6Twist2neERK6Twist2">navground::core::Twist2::operator!= (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core6Twist2eqERK6Twist2">navground::core::Twist2::operator== (C++ function)</a>
+</li>
+      <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core6Twist28relativeERK5Pose2">navground::core::Twist2::relative (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core6Twist26rotateE7Radians">navground::core::Twist2::rotate (C++ function)</a>
+</li>
+      <li><a href="reference/core/cpp/common.html#_CPPv4NK9navground4core6Twist28to_frameE5FrameRK5Pose2">navground::core::Twist2::to_frame (C++ function)</a>
 </li>
       <li><a href="reference/core/cpp/common.html#_CPPv4N9navground4core6Twist28velocityE">navground::core::Twist2::velocity (C++ member)</a>
 </li>
@@ -1714,6 +1782,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/sim/cpp/index.html#_CPPv4N9navground3simE">navground::sim (C++ type)</a>
 </li>
       <li><a href="reference/sim/cpp/agent.html#_CPPv4N9navground3sim5AgentE">navground::sim::Agent (C++ class)</a>
+</li>
+      <li><a href="reference/sim/cpp/agent.html#_CPPv4N9navground3sim5Agent7actuateERK6Twist2f">navground::sim::Agent::actuate (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/agent.html#_CPPv4N9navground3sim5Agent5AgentEfNSt10shared_ptrI8BehaviorEENSt10shared_ptrI10KinematicsEENSt10shared_ptrI4TaskEENSt10shared_ptrI15StateEstimationEEfj">navground::sim::Agent::Agent (C++ function)</a>
 </li>
@@ -1993,7 +2063,7 @@ <h2 id="N">N</h2>
 </li>
       <li><a href="reference/sim/cpp/scenarios/scenario.html#_CPPv4N9navground3sim8Scenario4InitE">navground::sim::Scenario::Init (C++ type)</a>
 </li>
-      <li><a href="reference/sim/cpp/scenarios/scenario.html#_CPPv4N9navground3sim8Scenario10init_worldEP5Worldi">navground::sim::Scenario::init_world (C++ function)</a>
+      <li><a href="reference/sim/cpp/scenarios/scenario.html#_CPPv4N9navground3sim8Scenario10init_worldEP5WorldNSt8optionalIiEE">navground::sim::Scenario::init_world (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/scenarios/scenario.html#_CPPv4N9navground3sim8Scenario5InitsE">navground::sim::Scenario::Inits (C++ type)</a>
 </li>
@@ -2013,9 +2083,11 @@ <h2 id="N">N</h2>
 </li>
       <li><a href="reference/sim/cpp/scenarios/simple.html#_CPPv4NK9navground3sim14SimpleScenario8get_typeEv">navground::sim::SimpleScenario::get_type (C++ function)</a>
 </li>
-      <li><a href="reference/sim/cpp/scenarios/simple.html#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5Worldi">navground::sim::SimpleScenario::init_world (C++ function)</a>
+      <li><a href="reference/sim/cpp/scenarios/simple.html#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5WorldNSt8optionalIiEE">navground::sim::SimpleScenario::init_world (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/state_estimations/state_estimation.html#_CPPv4N9navground3sim15StateEstimationE">navground::sim::StateEstimation (C++ struct)</a>
+</li>
+      <li><a href="reference/sim/cpp/state_estimations/state_estimation.html#_CPPv4NK9navground3sim15StateEstimation6updateEP5AgentP5WorldP16EnvironmentState">navground::sim::StateEstimation::update (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/sampling.html#_CPPv4I0EN9navground3sim22StateEstimationSamplerE">navground::sim::StateEstimationSampler (C++ type)</a>
 </li>
@@ -2090,6 +2162,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/sim/cpp/tasks/waypoints.html#_CPPv4N9navground3sim13WaypointsTask13WaypointsTaskE9Waypointsbf">navground::sim::WaypointsTask::WaypointsTask (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5WorldE">navground::sim::World (C++ class)</a>
+</li>
+      <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5World7actuateEf">navground::sim::World::actuate (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5World9add_agentERKNSt10shared_ptrI5AgentEE">navground::sim::World::add_agent (C++ function)</a>
 </li>
@@ -2145,7 +2219,7 @@ <h2 id="N">N</h2>
 </li>
       <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5World6updateEf">navground::sim::World::update (C++ function)</a>
 </li>
-      <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5World10update_dryEf">navground::sim::World::update_dry (C++ function)</a>
+      <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5World10update_dryEfb">navground::sim::World::update_dry (C++ function)</a>
 </li>
       <li><a href="reference/sim/cpp/world.html#_CPPv4N9navground3sim5World5WorldEv">navground::sim::World::World (C++ function)</a>
 </li>
@@ -2164,6 +2238,8 @@ <h2 id="N">N</h2>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.neighbor_repulsion_force">neighbor_repulsion_force() (SocialForceBehavior method)</a>
 </li>
       <li><a href="reference/core/python/state.html#navground.core.GeometricState.neighbors">neighbors (GeometricState property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.number">number (Trace property)</a>
 </li>
   </ul></td>
 </tr></table>
@@ -2177,16 +2253,22 @@ <h2 id="O">O</h2>
 </li>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.obstacle_repulsion_force">obstacle_repulsion_force() (SocialForceBehavior method)</a>
 </li>
+      <li><a href="reference/sim/python/scenarios/scenario.html#navground.sim.Scenario.obstacles">obstacles (Scenario property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/world.html#navground.sim.World.obstacles">(World property)</a>
+</li>
+      </ul></li>
       <li><a href="reference/core/python/kinematics.html#navground.core.kinematics.OmnidirectionalKinematics">OmnidirectionalKinematics (class in navground.core.kinematics)</a>
 </li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.optimal_angular_speed">optimal_angular_speed (Behavior property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.optimal_speed">optimal_speed (Behavior property)</a>
-</li>
-      <li><a href="reference/core/python/behaviors/ORCA.html#navground.core.behaviors.ORCABehavior">ORCABehavior (class in navground.core.behaviors)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/core/python/behaviors/ORCA.html#navground.core.behaviors.ORCABehavior">ORCABehavior (class in navground.core.behaviors)</a>
+</li>
       <li><a href="reference/sim/python/agent.html#navground.sim.Agent.orientation">orientation (Agent property)</a>
 
       <ul>
@@ -2198,6 +2280,8 @@ <h2 id="O">O</h2>
 </li>
       </ul></li>
       <li><a href="reference/core/python/target.html#navground.core.Target.Orientation">Orientation() (Target static method)</a>
+</li>
+      <li><a href="reference/sim/python/scenarios/antipodal.html#navground.sim.scenarios.AntipodalScenario.orientation_noise">orientation_noise (AntipodalScenario property)</a>
 </li>
       <li><a href="reference/core/python/target.html#navground.core.Target.orientation_tolerance">orientation_tolerance (Target property)</a>
 </li>
@@ -2212,11 +2296,17 @@ <h2 id="P">P</h2>
       <li><a href="reference/core/python/state.html#navground.core.LineSegment.p1">p1 (LineSegment property)</a>
 </li>
       <li><a href="reference/core/python/state.html#navground.core.LineSegment.p2">p2 (LineSegment property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.path">path (Experiment property)</a>
 </li>
       <li><a href="reference/core/python/target.html#navground.core.Target.Point">Point() (Target static method)</a>
 </li>
-      <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.pose">pose (Behavior property)</a>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.pose">pose (Agent property)</a>
+
+      <ul>
+        <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.pose">(Behavior property)</a>
 </li>
+      </ul></li>
       <li><a href="reference/core/python/target.html#navground.core.Target.Pose">Pose() (Target static method)</a>
 </li>
       <li><a href="reference/core/python/common.html#navground.core.Pose2">Pose2 (class in navground.core)</a>
@@ -2237,6 +2327,8 @@ <h2 id="P">P</h2>
       </ul></li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/scenarios/antipodal.html#navground.sim.scenarios.AntipodalScenario.position_noise">position_noise (AntipodalScenario property)</a>
+</li>
       <li><a href="reference/core/python/target.html#navground.core.Target.position_tolerance">position_tolerance (Target property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.potential">potential() (SocialForceBehavior method)</a>
@@ -2267,16 +2359,44 @@ <h2 id="P">P</h2>
 <h2 id="R">R</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.radius">radius (Behavior property)</a>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.radius">radius (Agent property)</a>
 
       <ul>
+        <li><a href="reference/sim/python/scenarios/antipodal.html#navground.sim.scenarios.AntipodalScenario.radius">(AntipodalScenario property)</a>
+</li>
+        <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.radius">(Behavior property)</a>
+</li>
         <li><a href="reference/core/python/state.html#navground.core.Disc.radius">(Disc property)</a>
 </li>
       </ul></li>
+      <li><a href="reference/sim/python/state_estimations/geometric_bounded.html#navground.sim.state_estimations.BoundedStateEstimation.range_of_view">range_of_view (BoundedStateEstimation property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_cmd">record_cmd (Trace property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_collisions">record_collisions (Trace property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_pose">record_pose (Trace property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_safety_violation">record_safety_violation (Trace property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_target">record_target (Trace property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_task_events">record_task_events (Trace property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.record_twist">record_twist (Trace property)</a>
+</li>
       <li><a href="reference/core/python/register.html#navground.core.registered_property">registered_property() (in module navground.core)</a>
 </li>
       <li><a href="reference/core/python/common.html#navground.core.Frame.relative">relative (Frame attribute)</a>
 </li>
+      <li><a href="reference/core/python/common.html#navground.core.Pose2.relative">relative() (Pose2 method)</a>
+
+      <ul>
+        <li><a href="reference/core/python/common.html#navground.core.Twist2.relative">(Twist2 method)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/sim/python/world.html#navground.sim.World.reset_callbacks">reset_callbacks() (World method)</a>
 </li>
       <li><a href="reference/core/python/collision_computation.html#navground.core.CachedCollisionComputation.resolution">resolution (CachedCollisionComputation property)</a>
@@ -2291,8 +2411,6 @@ <h2 id="R">R</h2>
         <li><a href="reference/core/python/common.html#navground.core.Twist2.rotate">(Twist2 method)</a>
 </li>
       </ul></li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.rotation_tau">rotation_tau (Behavior property)</a>
 </li>
       <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.run">run() (Experiment method)</a>
@@ -2301,6 +2419,10 @@ <h2 id="R">R</h2>
         <li><a href="reference/sim/python/world.html#navground.sim.World.run">(World method)</a>
 </li>
       </ul></li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.run_duration">run_duration (Experiment property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.run_index">run_index (Experiment property)</a>
+</li>
       <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.run_once">run_once() (Experiment method)</a>
 </li>
       <li><a href="reference/sim/python/world.html#navground.sim.World.run_until">run_until() (World method)</a>
@@ -2312,6 +2434,8 @@ <h2 id="R">R</h2>
 </li>
       </ul></li>
       <li><a href="reference/core/python/controller.html#navground.core.Action.running_cb">running_cb (Action property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.runs">runs (Experiment property)</a>
 </li>
   </ul></td>
 </tr></table>
@@ -2324,8 +2448,14 @@ <h2 id="S">S</h2>
       <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.safety_violations">safety_violations (Trace property)</a>
 </li>
       <li><a href="reference/core/python/target.html#navground.core.Target.satisfied">satisfied() (Target method)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.save_directory">save_directory (Experiment property)</a>
 </li>
       <li><a href="reference/sim/python/scenarios/scenario.html#navground.sim.Scenario">Scenario (class in navground.sim)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.scenario">scenario (Experiment property)</a>
+</li>
+      <li><a href="reference/sim/python/scenarios/scenario.html#navground.sim.Scenario.Group">Scenario.Group (class in navground.sim)</a>
 </li>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.segment_potential">segment_potential() (SocialForceBehavior method)</a>
 </li>
@@ -2461,6 +2591,14 @@ <h2 id="S">S</h2>
 </li>
       <li><a href="reference/core/python/state.html#navground.core.GeometricState.static_obstacles">static_obstacles (GeometricState property)</a>
 </li>
+      <li><a href="reference/sim/python/world.html#navground.sim.World.step">step (World property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.steps">steps (Experiment property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/experiment.html#navground.sim.Trace.steps">(Trace property)</a>
+</li>
+      </ul></li>
       <li><a href="reference/core/python/controller.html#navground.core.Controller.stop">stop() (Controller method)</a>
 
       <ul>
@@ -2479,6 +2617,8 @@ <h2 id="S">S</h2>
 <h2 id="T">T</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.tags">tags (Agent property)</a>
+</li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.target">target (Behavior property)</a>
 </li>
       <li><a href="reference/core/python/target.html#navground.core.Target">Target (class in navground.core)</a>
@@ -2496,19 +2636,35 @@ <h2 id="T">T</h2>
       <li><a href="reference/sim/python/tasks/task.html#navground.sim.TaskCallback">TaskCallback (class in navground.sim)</a>
 </li>
       <li><a href="reference/core/python/behaviors/HL.html#navground.core.behaviors.HLBehavior.tau">tau (HLBehavior property)</a>
+</li>
+      <li><a href="reference/sim/python/world.html#navground.sim.World.time">time (World property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/ORCA.html#navground.core.behaviors.ORCABehavior.time_horizon">time_horizon (ORCABehavior property)</a>
+</li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.time_step">time_step (Experiment property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/py_dummy.html#navground.core.behaviors.PyDummyBehavior.tired">tired (PyDummyBehavior property)</a>
 </li>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.to_frame">to_frame() (Behavior method)</a>
 </li>
-      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace">Trace (class in navground.sim)</a>
+      <li><a href="reference/sim/python/scenarios/antipodal.html#navground.sim.scenarios.AntipodalScenario.tolerance">tolerance (AntipodalScenario property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/tasks/waypoints.html#navground.sim.tasks.WaypointsTask.tolerance">(WaypointsTask property)</a>
 </li>
-      <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.twist">twist (Behavior property)</a>
+      </ul></li>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Trace">Trace (class in navground.sim)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.trace">trace (Experiment property)</a>
+</li>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.twist">twist (Agent property)</a>
+
+      <ul>
+        <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.twist">(Behavior property)</a>
+</li>
+      </ul></li>
       <li><a href="reference/core/python/target.html#navground.core.Target.Twist">Twist() (Target static method)</a>
 </li>
       <li><a href="reference/core/python/kinematics.html#navground.core.kinematics.WheeledKinematics.twist">twist() (WheeledKinematics method)</a>
@@ -2521,9 +2677,11 @@ <h2 id="T">T</h2>
 </li>
       <li><a href="reference/core/python/kinematics.html#navground.core.kinematics.TwoWheelsDifferentialDriveKinematics">TwoWheelsDifferentialDriveKinematics (class in navground.core.kinematics)</a>
 </li>
-      <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.type">type (Behavior property)</a>
+      <li><a href="reference/sim/python/agent.html#navground.sim.Agent.type">type (Agent property)</a>
 
       <ul>
+        <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.type">(Behavior property)</a>
+</li>
         <li><a href="reference/core/python/kinematics.html#navground.core.Kinematics.type">(Kinematics property)</a>
 </li>
         <li><a href="reference/sim/python/state_estimations/state_estimation.html#navground.sim.StateEstimation.type">(StateEstimation property)</a>
@@ -2555,6 +2713,8 @@ <h2 id="U">U</h2>
 
       <ul>
         <li><a href="reference/sim/python/experiment.html#navground.sim.Experiment.update">(Experiment method)</a>
+</li>
+        <li><a href="reference/sim/python/state_estimations/state_estimation.html#navground.sim.StateEstimation.update">(StateEstimation method)</a>
 </li>
         <li><a href="reference/sim/python/world.html#navground.sim.World.update">(World method)</a>
 </li>
@@ -2605,16 +2765,24 @@ <h2 id="W">W</h2>
   <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/sim/python/world.html#navground.sim.Wall">Wall (class in navground.sim)</a>
 </li>
+      <li><a href="reference/sim/python/scenarios/scenario.html#navground.sim.Scenario.walls">walls (Scenario property)</a>
+
+      <ul>
+        <li><a href="reference/sim/python/world.html#navground.sim.World.walls">(World property)</a>
+</li>
+      </ul></li>
       <li><a href="reference/sim/python/tasks/waypoints.html#navground.Waypoints">Waypoints (class in navground)</a>
+</li>
+      <li><a href="reference/sim/python/tasks/waypoints.html#navground.sim.tasks.WaypointsTask.waypoints">waypoints (WaypointsTask property)</a>
 </li>
       <li><a href="reference/sim/python/tasks/waypoints.html#navground.sim.tasks.WaypointsTask">WaypointsTask (class in navground.sim.tasks)</a>
 </li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.weight">weight() (SocialForceBehavior method)</a>
 </li>
       <li><a href="reference/core/python/behaviors/social_force.html#navground.core.behaviors.SocialForceBehavior.weighted">weighted() (SocialForceBehavior method)</a>
 </li>
-  </ul></td>
-  <td style="width: 33%; vertical-align: top;"><ul>
       <li><a href="reference/core/python/behaviors/behavior.html#navground.core.Behavior.wheel_speeds">wheel_speeds (Behavior property)</a>
 </li>
       <li><a href="reference/core/python/kinematics.html#navground.core.kinematics.WheeledKinematics.wheel_speeds">wheel_speeds() (WheeledKinematics method)</a>
diff --git a/docs/_build/html/guides/index.html b/docs/_build/html/guides/index.html
index 32a18c69..a9ca9fbb 100644
--- a/docs/_build/html/guides/index.html
+++ b/docs/_build/html/guides/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Guides &#8212; navground 0.0.1 documentation</title>
+    <title>Guides &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'guides/index';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="How to register a component" href="register.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
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diff --git a/docs/_build/html/guides/register.html b/docs/_build/html/guides/register.html
index 0023f8b6..72c6d0ad 100644
--- a/docs/_build/html/guides/register.html
+++ b/docs/_build/html/guides/register.html
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-    <title>How to register a component &#8212; navground 0.0.1 documentation</title>
+    <title>How to register a component &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'guides/register';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Benchmark scenarios" href="../scenarios/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index 5ccc986b..b30b635a 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
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-    <title>Welcome to navground’s documentation! &#8212; navground 0.0.1 documentation</title>
+    <title>Welcome to navground’s documentation! &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'index';</script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
     <link rel="next" title="Introduction" href="introduction.html" />
@@ -129,7 +130,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/installation.html b/docs/_build/html/installation.html
index f9dac133..3c87fc28 100644
--- a/docs/_build/html/installation.html
+++ b/docs/_build/html/installation.html
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-    <title>Installation &#8212; navground 0.0.1 documentation</title>
+    <title>Installation &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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+    <script src="_static/documentation_options.js?v=f52f92e8"></script>
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@@ -132,7 +132,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/introduction.html b/docs/_build/html/introduction.html
index 43a3c531..07153964 100644
--- a/docs/_build/html/introduction.html
+++ b/docs/_build/html/introduction.html
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-    <title>Introduction &#8212; navground 0.0.1 documentation</title>
+    <title>Introduction &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'introduction';</script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
     <link rel="next" title="Installation" href="installation.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/objects.inv b/docs/_build/html/objects.inv
index 7482c46c..c707cad7 100644
Binary files a/docs/_build/html/objects.inv and b/docs/_build/html/objects.inv differ
diff --git a/docs/_build/html/packages/index.html b/docs/_build/html/packages/index.html
index b4feb6fb..8a68e23e 100644
--- a/docs/_build/html/packages/index.html
+++ b/docs/_build/html/packages/index.html
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-    <title>Packages &#8212; navground 0.0.1 documentation</title>
+    <title>Packages &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/index';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
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index 124fa068..dd961433 100644
--- a/docs/_build/html/packages/navground_coppeliasim.html
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-    <title>navground_coppeliasim &#8212; navground 0.0.1 documentation</title>
+    <title>navground_coppeliasim &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/packages/navground_core.html b/docs/_build/html/packages/navground_core.html
index 1ab40941..e7b4bc1d 100644
--- a/docs/_build/html/packages/navground_core.html
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-    <title>navground_core &#8212; navground 0.0.1 documentation</title>
+    <title>navground_core &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_core';</script>
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
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 </a></div>
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diff --git a/docs/_build/html/packages/navground_demos.html b/docs/_build/html/packages/navground_demos.html
index d3048888..e3572769 100644
--- a/docs/_build/html/packages/navground_demos.html
+++ b/docs/_build/html/packages/navground_demos.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_demos &#8212; navground 0.0.1 documentation</title>
+    <title>navground_demos &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_demos';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Tutorials" href="../tutorials/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/packages/navground_examples.html b/docs/_build/html/packages/navground_examples.html
index 8bb27dc5..2632ee05 100644
--- a/docs/_build/html/packages/navground_examples.html
+++ b/docs/_build/html/packages/navground_examples.html
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_examples &#8212; navground 0.0.1 documentation</title>
+    <title>navground_examples &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_examples';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="navground_examples_py" href="navground_examples_py.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/packages/navground_examples_py.html b/docs/_build/html/packages/navground_examples_py.html
index 631f3ae7..8170383a 100644
--- a/docs/_build/html/packages/navground_examples_py.html
+++ b/docs/_build/html/packages/navground_examples_py.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_examples_py &#8212; navground 0.0.1 documentation</title>
+    <title>navground_examples_py &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_examples_py';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="navground_demos" href="navground_demos.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/packages/navground_msgs.html b/docs/_build/html/packages/navground_msgs.html
index c65cbc4f..9a9ede6e 100644
--- a/docs/_build/html/packages/navground_msgs.html
+++ b/docs/_build/html/packages/navground_msgs.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_msgs &#8212; navground 0.0.1 documentation</title>
+    <title>navground_msgs &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_msgs';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="navground_coppeliasim" href="navground_coppeliasim.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/packages/navground_py.html b/docs/_build/html/packages/navground_py.html
index 70ed993a..118401d5 100644
--- a/docs/_build/html/packages/navground_py.html
+++ b/docs/_build/html/packages/navground_py.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_py &#8212; navground 0.0.1 documentation</title>
+    <title>navground_py &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_py';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="navground_sim" href="navground_sim.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -400,7 +401,6 @@ <h2> Contents </h2>
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executables">Executables</a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#info">info</a><ul class="nav section-nav flex-column">
-<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#named-arguments">Named Arguments</a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#example">Example</a></li>
 </ul>
 </li>
@@ -460,20 +460,6 @@ <h2>Executables<a class="headerlink" href="#executables" title="Link to this hea
 <h3>info<a class="headerlink" href="#info" title="Link to this heading">#</a></h3>
 <p>Lists registered components (behaviors and kinematics).
 It is equivalent to the <a class="reference internal" href="navground_core.html#info"><span class="std std-ref">C++ version</span></a> but with additional components implemented in Python.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">usage</span><span class="p">:</span> <span class="n">info</span> <span class="p">[</span><span class="o">-</span><span class="n">h</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">behavior</span> <span class="p">[</span><span class="n">BEHAVIOR</span><span class="p">]]</span> <span class="p">[</span><span class="o">--</span><span class="n">kinematics</span> <span class="p">[</span><span class="n">KINEMATICS</span><span class="p">]]</span>
-</pre></div>
-</div>
-<section id="named-arguments">
-<h4>Named Arguments<a class="headerlink" href="#named-arguments" title="Link to this heading">#</a></h4>
-<dl class="option-list">
-<dt><kbd>--behavior</kbd></dt>
-<dd><p>selects behaviors</p>
-</dd>
-<dt><kbd>--kinematics</kbd></dt>
-<dd><p>selects kinematics</p>
-</dd>
-</dl>
-</section>
 <section id="example">
 <h4>Example<a class="headerlink" href="#example" title="Link to this heading">#</a></h4>
 <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>info
@@ -566,7 +552,6 @@ <h4>Example<a class="headerlink" href="#example" title="Link to this heading">#<
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executables">Executables</a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#info">info</a><ul class="nav section-nav flex-column">
-<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#named-arguments">Named Arguments</a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#example">Example</a></li>
 </ul>
 </li>
diff --git a/docs/_build/html/packages/navground_ros.html b/docs/_build/html/packages/navground_ros.html
index 6c768952..97c0b025 100644
--- a/docs/_build/html/packages/navground_ros.html
+++ b/docs/_build/html/packages/navground_ros.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_ros &#8212; navground 0.0.1 documentation</title>
+    <title>navground_ros &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_ros';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="navground_msgs" href="navground_msgs.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/packages/navground_sim.html b/docs/_build/html/packages/navground_sim.html
index 0f61d014..142c9d6e 100644
--- a/docs/_build/html/packages/navground_sim.html
+++ b/docs/_build/html/packages/navground_sim.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_sim &#8212; navground 0.0.1 documentation</title>
+    <title>navground_sim &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_sim';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="navground_ros" href="navground_ros.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -400,7 +401,6 @@ <h2> Contents </h2>
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executables">Executables</a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#info-and-info-py">info and info_py</a><ul class="nav section-nav flex-column">
-<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#named-arguments">Named Arguments</a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#example">Example</a></li>
 </ul>
 </li>
@@ -500,29 +500,6 @@ <h2>Executables<a class="headerlink" href="#executables" title="Link to this hea
 <span id="info-sim"></span><h3>info and info_py<a class="headerlink" href="#info-and-info-py" title="Link to this heading">#</a></h3>
 <p>Lists registered components (behaviors, kinematics, state estimations, tasks, and scenarios).
 <code class="docutils literal notranslate"><span class="pre">info</span></code> is limited to components implemented in C++, while <code class="docutils literal notranslate"><span class="pre">info_py</span></code> accesses components implemented in Python too.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">usage</span><span class="p">:</span> <span class="n">info</span><span class="o">|</span><span class="n">info_py</span> <span class="p">[</span><span class="o">-</span><span class="n">h</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">behavior</span> <span class="p">[</span><span class="n">BEHAVIOR</span><span class="p">]]</span> <span class="p">[</span><span class="o">--</span><span class="n">kinematics</span> <span class="p">[</span><span class="n">KINEMATICS</span><span class="p">]]</span> <span class="p">[</span><span class="o">--</span><span class="n">state_estimation</span> <span class="p">[</span><span class="n">STATE_ESTIMATION</span><span class="p">]]</span> <span class="p">[</span><span class="o">--</span><span class="n">task</span> <span class="p">[</span><span class="n">TASK</span><span class="p">]]</span> <span class="p">[</span><span class="o">--</span><span class="n">scenario</span> <span class="p">[</span><span class="n">SCENARIO</span><span class="p">]]</span>
-</pre></div>
-</div>
-<section id="named-arguments">
-<h4>Named Arguments<a class="headerlink" href="#named-arguments" title="Link to this heading">#</a></h4>
-<dl class="option-list">
-<dt><kbd>--behavior</kbd></dt>
-<dd><p>selects behaviors</p>
-</dd>
-<dt><kbd>--kinematics</kbd></dt>
-<dd><p>selects kinematics</p>
-</dd>
-<dt><kbd>--state_estimation</kbd></dt>
-<dd><p>selects state estimations</p>
-</dd>
-<dt><kbd>--task</kbd></dt>
-<dd><p>selects tasks</p>
-</dd>
-<dt><kbd>--scenario</kbd></dt>
-<dd><p>selects scenarios</p>
-</dd>
-</dl>
-</section>
 <section id="example">
 <h4>Example<a class="headerlink" href="#example" title="Link to this heading">#</a></h4>
 <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>info_py
@@ -684,7 +661,8 @@ <h4>Example<a class="headerlink" href="#id4" title="Link to this heading">#</a><
 <section id="run-rt">
 <span id="id5"></span><h3>run_rt<a class="headerlink" href="#run-rt" title="Link to this heading">#</a></h3>
 <p>Run an experiment using Python in real time. You can visualize the world in a browser view.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">usage</span><span class="p">:</span> <span class="n">run_rt</span> <span class="p">[</span><span class="o">-</span><span class="n">h</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">factor</span> <span class="n">FACTOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">ui</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">browser</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">ui</span><span class="o">-</span><span class="n">fps</span> <span class="n">UI_FPS</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">background</span><span class="o">-</span><span class="n">color</span> <span class="n">BACKGROUND_COLOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">area</span> <span class="n">MIN_X</span> <span class="n">MIN_Y</span> <span class="n">MAX_X</span> <span class="n">MAX_Y</span><span class="p">]</span> <span class="n">YAML</span>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">usage</span><span class="p">:</span> <span class="n">run_rt</span> <span class="p">[</span><span class="o">-</span><span class="n">h</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">factor</span> <span class="n">FACTOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">ui</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">browser</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">ui</span><span class="o">-</span><span class="n">fps</span> <span class="n">UI_FPS</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">background</span><span class="o">-</span><span class="n">color</span> <span class="n">BACKGROUND_COLOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">area</span> <span class="n">MIN_X</span> <span class="n">MIN_Y</span> <span class="n">MAX_X</span> <span class="n">MAX_Y</span><span class="p">]</span>
+              <span class="n">YAML</span>
 </pre></div>
 </div>
 <section id="positional-arguments">
@@ -734,7 +712,8 @@ <h4>Example<a class="headerlink" href="#id6" title="Link to this heading">#</a><
 <section id="replay">
 <h3>replay<a class="headerlink" href="#replay" title="Link to this heading">#</a></h3>
 <p>Replays an experiment in real-time. You can visualize the world in a browser view, similarly to <a class="reference internal" href="#run-rt">run_rt</a> but for recorded experiment.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">usage</span><span class="p">:</span> <span class="n">run_rt</span> <span class="p">[</span><span class="o">-</span><span class="n">h</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">factor</span> <span class="n">FACTOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">ui</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">browser</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">ui</span><span class="o">-</span><span class="n">fps</span> <span class="n">UI_FPS</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">background</span><span class="o">-</span><span class="n">color</span> <span class="n">BACKGROUND_COLOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">area</span> <span class="n">MIN_X</span> <span class="n">MIN_Y</span> <span class="n">MAX_X</span> <span class="n">MAX_Y</span><span class="p">]</span> <span class="n">YAML</span>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">usage</span><span class="p">:</span> <span class="n">run_rt</span> <span class="p">[</span><span class="o">-</span><span class="n">h</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">factor</span> <span class="n">FACTOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">ui</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">no</span><span class="o">-</span><span class="n">browser</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">ui</span><span class="o">-</span><span class="n">fps</span> <span class="n">UI_FPS</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">background</span><span class="o">-</span><span class="n">color</span> <span class="n">BACKGROUND_COLOR</span><span class="p">]</span> <span class="p">[</span><span class="o">--</span><span class="n">area</span> <span class="n">MIN_X</span> <span class="n">MIN_Y</span> <span class="n">MAX_X</span> <span class="n">MAX_Y</span><span class="p">]</span>
+              <span class="n">YAML</span>
 </pre></div>
 </div>
 <section id="positional-arguments">
@@ -839,7 +818,6 @@ <h4>Example<a class="headerlink" href="#id7" title="Link to this heading">#</a><
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executables">Executables</a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#info-and-info-py">info and info_py</a><ul class="nav section-nav flex-column">
-<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#named-arguments">Named Arguments</a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#example">Example</a></li>
 </ul>
 </li>
diff --git a/docs/_build/html/packages/navground_utilities.html b/docs/_build/html/packages/navground_utilities.html
index eb455c5f..b0391bcb 100644
--- a/docs/_build/html/packages/navground_utilities.html
+++ b/docs/_build/html/packages/navground_utilities.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>navground_utilities &#8212; navground 0.0.1 documentation</title>
+    <title>navground_utilities &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'packages/navground_utilities';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
@@ -128,7 +129,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/cpp/auto_registration.html b/docs/_build/html/reference/core/cpp/auto_registration.html
index 862f3b41..edcc9b17 100644
--- a/docs/_build/html/reference/core/cpp/auto_registration.html
+++ b/docs/_build/html/reference/core/cpp/auto_registration.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Auto registration &#8212; navground 0.0.1 documentation</title>
+    <title>Auto registration &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/auto_registration';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Properties" href="property.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/cpp/behaviors/HL.html b/docs/_build/html/reference/core/cpp/behaviors/HL.html
index 63a9c037..ff7509a9 100644
--- a/docs/_build/html/reference/core/cpp/behaviors/HL.html
+++ b/docs/_build/html/reference/core/cpp/behaviors/HL.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Human-Like &#8212; navground 0.0.1 documentation</title>
+    <title>Human-Like &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -48,6 +48,7 @@
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
     <script>window.MathJax = {"tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]], "processEscapes": true}, "options": {"ignoreHtmlClass": "tex2jax_ignore|mathjax_ignore|document", "processHtmlClass": "tex2jax_process|mathjax_process|math|output_area"}}</script>
     <script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/common';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Auto registration" href="auto_registration.html" />
@@ -132,7 +133,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -409,6 +410,8 @@ <h2> Contents </h2>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core5Pose29integrateERK6Twist2f"><code class="docutils literal notranslate"><span class="pre">Pose2::integrate()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose2eqERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::operator==()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose2neERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::operator!=()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose28absoluteERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::absolute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose28relativeERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::relative()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core5Pose28positionE"><code class="docutils literal notranslate"><span class="pre">Pose2::position</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core5Pose211orientationE"><code class="docutils literal notranslate"><span class="pre">Pose2::orientation</span></code></a></li>
 </ul>
@@ -417,6 +420,9 @@ <h2> Contents </h2>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist26rotateE7Radians"><code class="docutils literal notranslate"><span class="pre">Twist2::rotate()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist2eqERK6Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2::operator==()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist2neERK6Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2::operator!=()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist28absoluteERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Twist2::absolute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist28relativeERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Twist2::relative()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist28to_frameE5FrameRK5Pose2"><code class="docutils literal notranslate"><span class="pre">Twist2::to_frame()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core6Twist28velocityE"><code class="docutils literal notranslate"><span class="pre">Twist2::velocity</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core6Twist213angular_speedE"><code class="docutils literal notranslate"><span class="pre">Twist2::angular_speed</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core6Twist25frameE"><code class="docutils literal notranslate"><span class="pre">Twist2::frame</span></code></a></li>
@@ -631,6 +637,34 @@ <h2>Two dimensional<a class="headerlink" href="#two-dimensional" title="Link to
 </dl>
 </dd></dl>
 
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground4core5Pose28absoluteERK5Pose2">
+<span class="target" id="structnavground_1_1core_1_1_pose2_1a1d61d02177ac4d2dc8ed198b5cbf5e42"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">absolute</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">reference</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground4core5Pose28absoluteERK5Pose2" title="Link to this definition">#</a><br /></dt>
+<dd><p>Transform a relative pose to an absolute pose. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>reference</strong> – <strong>[in]</strong> The reference pose</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The absolute pose </p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground4core5Pose28relativeERK5Pose2">
+<span class="target" id="structnavground_1_1core_1_1_pose2_1ab43a5ff769491390421f372b1351f0ce"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">relative</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">reference</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground4core5Pose28relativeERK5Pose2" title="Link to this definition">#</a><br /></dt>
+<dd><p>Transform an absolute pose to a relative pose. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>pose</strong> – <strong>[in]</strong> The reference pose</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The relative pose </p>
+</dd>
+</dl>
+</dd></dl>
+
 </div>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-members">Public Members</p>
@@ -698,6 +732,51 @@ <h2>Two dimensional<a class="headerlink" href="#two-dimensional" title="Link to
 </dl>
 </dd></dl>
 
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground4core6Twist28absoluteERK5Pose2">
+<span class="target" id="structnavground_1_1core_1_1_twist2_1a55636968f7cbf3e70bb053454689517f"></span><a class="reference internal" href="#_CPPv4N9navground4core6Twist2E" title="navground::core::Twist2"><span class="n"><span class="pre">Twist2</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">absolute</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">reference</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground4core6Twist28absoluteERK5Pose2" title="Link to this definition">#</a><br /></dt>
+<dd><p>Transform a twist to <a class="reference internal" href="#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82adc4d53aa0d117d8b189b36d161af4e96"><span class="std std-ref">Frame::absolute</span></a>. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>value</strong> – <strong>[in]</strong> The original twist</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The same twist in <a class="reference internal" href="#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82adc4d53aa0d117d8b189b36d161af4e96"><span class="std std-ref">Frame::absolute</span></a> (unchanged if already in <a class="reference internal" href="#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82adc4d53aa0d117d8b189b36d161af4e96"><span class="std std-ref">Frame::absolute</span></a>) </p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground4core6Twist28relativeERK5Pose2">
+<span class="target" id="structnavground_1_1core_1_1_twist2_1ac24b2c347b3fbc7d9d7e6d820b066091"></span><a class="reference internal" href="#_CPPv4N9navground4core6Twist2E" title="navground::core::Twist2"><span class="n"><span class="pre">Twist2</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">relative</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">reference</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground4core6Twist28relativeERK5Pose2" title="Link to this definition">#</a><br /></dt>
+<dd><p>Transform a twist to <a class="reference internal" href="#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82a99c483e1d11b1a279a2a1a3960528487"><span class="std std-ref">Frame::relative</span></a>. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>frame</strong> – <strong>[in]</strong> The reference pose</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The same twist in <a class="reference internal" href="#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82a99c483e1d11b1a279a2a1a3960528487"><span class="std std-ref">Frame::relative</span></a> (unchanged if already in <a class="reference internal" href="#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82a99c483e1d11b1a279a2a1a3960528487"><span class="std std-ref">Frame::relative</span></a>) </p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground4core6Twist28to_frameE5FrameRK5Pose2">
+<span class="target" id="structnavground_1_1core_1_1_twist2_1a39d292a3a31b6db8cdc0f63db988aadc"></span><a class="reference internal" href="#_CPPv4N9navground4core6Twist2E" title="navground::core::Twist2"><span class="n"><span class="pre">Twist2</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">to_frame</span></span></span><span class="sig-paren">(</span><a class="reference internal" href="#_CPPv4N9navground4core5FrameE" title="navground::core::Frame"><span class="n"><span class="pre">Frame</span></span></a><span class="w"> </span><span class="n sig-param"><span class="pre">frame</span></span>, <span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="#_CPPv4N9navground4core5Pose2E" title="navground::core::Pose2"><span class="n"><span class="pre">Pose2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">reference</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground4core6Twist28to_frameE5FrameRK5Pose2" title="Link to this definition">#</a><br /></dt>
+<dd><p>Convert a twist to a reference frame. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>frame</strong> – <strong>[in]</strong> The desired frame of reference </p></li>
+<li><p><strong>frame</strong> – <strong>[in]</strong> The reference pose</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The twist in the desired frame of reference. </p>
+</dd>
+</dl>
+</dd></dl>
+
 </div>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-members">Public Members</p>
@@ -894,6 +973,8 @@ <h2>Three dimensional<a class="headerlink" href="#three-dimensional" title="Link
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core5Pose29integrateERK6Twist2f"><code class="docutils literal notranslate"><span class="pre">Pose2::integrate()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose2eqERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::operator==()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose2neERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::operator!=()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose28absoluteERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::absolute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core5Pose28relativeERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2::relative()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core5Pose28positionE"><code class="docutils literal notranslate"><span class="pre">Pose2::position</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core5Pose211orientationE"><code class="docutils literal notranslate"><span class="pre">Pose2::orientation</span></code></a></li>
 </ul>
@@ -902,6 +983,9 @@ <h2>Three dimensional<a class="headerlink" href="#three-dimensional" title="Link
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist26rotateE7Radians"><code class="docutils literal notranslate"><span class="pre">Twist2::rotate()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist2eqERK6Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2::operator==()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist2neERK6Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2::operator!=()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist28absoluteERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Twist2::absolute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist28relativeERK5Pose2"><code class="docutils literal notranslate"><span class="pre">Twist2::relative()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core6Twist28to_frameE5FrameRK5Pose2"><code class="docutils literal notranslate"><span class="pre">Twist2::to_frame()</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core6Twist28velocityE"><code class="docutils literal notranslate"><span class="pre">Twist2::velocity</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core6Twist213angular_speedE"><code class="docutils literal notranslate"><span class="pre">Twist2::angular_speed</span></code></a></li>
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core6Twist25frameE"><code class="docutils literal notranslate"><span class="pre">Twist2::frame</span></code></a></li>
diff --git a/docs/_build/html/reference/core/cpp/controller.html b/docs/_build/html/reference/core/cpp/controller.html
index d47af36d..15073c98 100644
--- a/docs/_build/html/reference/core/cpp/controller.html
+++ b/docs/_build/html/reference/core/cpp/controller.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Controller &#8212; navground 0.0.1 documentation</title>
+    <title>Controller &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/controller';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Helpers" href="helper.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/cpp/helper.html b/docs/_build/html/reference/core/cpp/helper.html
index 82e86461..ed8e977d 100644
--- a/docs/_build/html/reference/core/cpp/helper.html
+++ b/docs/_build/html/reference/core/cpp/helper.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Helpers &#8212; navground 0.0.1 documentation</title>
+    <title>Helpers &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/helper';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Python API" href="../python/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -417,7 +418,7 @@ <h1>Helpers<a class="headerlink" href="#helpers" title="Link to this heading">#<
 <span class="target" id="classnavground_1_1core_1_1_track_changes"></span><span class="k"><span class="pre">class</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">TrackChanges</span></span></span><a class="headerlink" href="#_CPPv4N9navground4core12TrackChangesE" title="Link to this definition">#</a><br /></dt>
 <dd><p>An helper class that track changes. </p>
 <p>Changes are tracked by a bit mask, where the bit index corresponds to different fields that may change. The class is mainly used for tracking changes in a <a class="reference internal" href="behaviors/behavior.html#classnavground_1_1core_1_1_behavior"><span class="std std-ref">Behavior</span></a> to enable caching when the relevant part of the state has not changed. </p>
-<p>Subclassed by <a class="reference internal" href="behaviors/behavior.html#classnavground_1_1core_1_1_behavior"><span class="std std-ref">navground::core::Behavior</span></a>, <a class="reference internal" href="state.html#classnavground_1_1core_1_1_geometric_state"><span class="std std-ref">navground::core::GeometricState</span></a></p>
+<p>Subclassed by <a class="reference internal" href="behaviors/behavior.html#classnavground_1_1core_1_1_behavior"><span class="std std-ref">navground::core::Behavior</span></a>, <a class="reference internal" href="state.html#classnavground_1_1core_1_1_geometric_state"><span class="std std-ref">navground::core::GeometricState</span></a>, navground::core::SensingState</p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
 <dl class="cpp function">
diff --git a/docs/_build/html/reference/core/cpp/index.html b/docs/_build/html/reference/core/cpp/index.html
index 372a2196..79aea7d8 100644
--- a/docs/_build/html/reference/core/cpp/index.html
+++ b/docs/_build/html/reference/core/cpp/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>C++ API &#8212; navground 0.0.1 documentation</title>
+    <title>C++ API &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/index';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Geometry" href="common.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/cpp/kinematics.html b/docs/_build/html/reference/core/cpp/kinematics.html
index a5c93472..ebfed949 100644
--- a/docs/_build/html/reference/core/cpp/kinematics.html
+++ b/docs/_build/html/reference/core/cpp/kinematics.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Kinematics &#8212; navground 0.0.1 documentation</title>
+    <title>Kinematics &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/kinematics';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Target" href="target.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -392,6 +393,7 @@ <h2> Contents </h2>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#abstract-classes">Abstract classes</a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#kinematics-base-class">Kinematics base class</a><ul class="nav section-nav flex-column">
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core10KinematicsE"><code class="docutils literal notranslate"><span class="pre">Kinematics</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics9cmd_frameEv"><code class="docutils literal notranslate"><span class="pre">Kinematics::cmd_frame()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics8feasibleERK6Twist2"><code class="docutils literal notranslate"><span class="pre">Kinematics::feasible()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics10is_wheeledEv"><code class="docutils literal notranslate"><span class="pre">Kinematics::is_wheeled()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics3dofEv"><code class="docutils literal notranslate"><span class="pre">Kinematics::dof()</span></code></a></li>
@@ -490,6 +492,17 @@ <h3>Kinematics base class<a class="headerlink" href="#kinematics-base-class" tit
 <p>Subclassed by <a class="reference internal" href="#classnavground_1_1core_1_1_ahead_kinematics"><span class="std std-ref">navground::core::AheadKinematics</span></a>, <a class="reference internal" href="#classnavground_1_1core_1_1_omnidirectional_kinematics"><span class="std std-ref">navground::core::OmnidirectionalKinematics</span></a>, <a class="reference internal" href="#classnavground_1_1core_1_1_wheeled_kinematics"><span class="std std-ref">navground::core::WheeledKinematics</span></a></p>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground4core10Kinematics9cmd_frameEv">
+<span class="target" id="classnavground_1_1core_1_1_kinematics_1a322b06cc51e2559cda16eb5c9f4498a2"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><a class="reference internal" href="common.html#_CPPv4N9navground4core5FrameE" title="navground::core::Frame"><span class="n"><span class="pre">Frame</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">cmd_frame</span></span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground4core10Kinematics9cmd_frameEv" title="Link to this definition">#</a><br /></dt>
+<dd><p>The most natural frame for this kinematics: <a class="reference internal" href="common.html#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82a99c483e1d11b1a279a2a1a3960528487"><span class="std std-ref">Frame::relative</span></a> in case the agent is wheeled, else <a class="reference internal" href="common.html#namespacenavground_1_1core_1a5c9b7d38cd15729e0b012d9c315f1b82adc4d53aa0d117d8b189b36d161af4e96"><span class="std std-ref">Frame::absolute</span></a>. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The frame </p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="cpp function">
 <dt class="sig sig-object cpp" id="_CPPv4NK9navground4core10Kinematics8feasibleERK6Twist2">
 <span class="target" id="classnavground_1_1core_1_1_kinematics_1a5bea30ab88861abc3461b388905b3242"></span><span class="k"><span class="pre">virtual</span></span><span class="w"> </span><a class="reference internal" href="common.html#_CPPv4N9navground4core6Twist2E" title="navground::core::Twist2"><span class="n"><span class="pre">Twist2</span></span></a><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">feasible</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="common.html#_CPPv4N9navground4core6Twist2E" title="navground::core::Twist2"><span class="n"><span class="pre">Twist2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">twist</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="m"><span class="pre">0</span></span><a class="headerlink" href="#_CPPv4NK9navground4core10Kinematics8feasibleERK6Twist2" title="Link to this definition">#</a><br /></dt>
@@ -935,6 +948,7 @@ <h2>Four wheels omnidirectional drive<a class="headerlink" href="#four-wheels-om
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#abstract-classes">Abstract classes</a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#kinematics-base-class">Kinematics base class</a><ul class="nav section-nav flex-column">
 <li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground4core10KinematicsE"><code class="docutils literal notranslate"><span class="pre">Kinematics</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics9cmd_frameEv"><code class="docutils literal notranslate"><span class="pre">Kinematics::cmd_frame()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics8feasibleERK6Twist2"><code class="docutils literal notranslate"><span class="pre">Kinematics::feasible()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics10is_wheeledEv"><code class="docutils literal notranslate"><span class="pre">Kinematics::is_wheeled()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground4core10Kinematics3dofEv"><code class="docutils literal notranslate"><span class="pre">Kinematics::dof()</span></code></a></li>
diff --git a/docs/_build/html/reference/core/cpp/modulations.html b/docs/_build/html/reference/core/cpp/modulations.html
index a46c4966..abca4ebb 100644
--- a/docs/_build/html/reference/core/cpp/modulations.html
+++ b/docs/_build/html/reference/core/cpp/modulations.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Modulations &#8212; navground 0.0.1 documentation</title>
+    <title>Modulations &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/cpp/modulations';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Social margin" href="social_margin.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/cpp/property.html b/docs/_build/html/reference/core/cpp/property.html
index 919bfe54..6934d090 100644
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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index 18870342..f754ddd2 100644
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@@ -130,7 +131,7 @@
   
   
   
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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@@ -130,7 +131,7 @@
   
   
   
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         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -449,7 +450,7 @@ <h2>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <dl class="cpp struct">
 <dt class="sig sig-object cpp" id="_CPPv4N9navground4core16EnvironmentStateE">
 <span class="target" id="structnavground_1_1core_1_1_environment_state"></span><span class="k"><span class="pre">struct</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">EnvironmentState</span></span></span><a class="headerlink" href="#_CPPv4N9navground4core16EnvironmentStateE" title="Link to this definition">#</a><br /></dt>
-<dd><p>Subclassed by <a class="reference internal" href="#classnavground_1_1core_1_1_geometric_state"><span class="std std-ref">navground::core::GeometricState</span></a></p>
+<dd><p>Subclassed by <a class="reference internal" href="#classnavground_1_1core_1_1_geometric_state"><span class="std std-ref">navground::core::GeometricState</span></a>, navground::core::SensingState</p>
 </dd></dl>
 
 </section>
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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diff --git a/docs/_build/html/reference/core/cpp/yaml.html b/docs/_build/html/reference/core/cpp/yaml.html
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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diff --git a/docs/_build/html/reference/core/index.html b/docs/_build/html/reference/core/index.html
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+<p>The most natural frame for the current kinematics: <a class="reference internal" href="../common.html#navground.core.Frame.relative" title="navground.core.Frame.relative"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.relative()</span></code></a> in case the agent is wheeled, else <a class="reference internal" href="../common.html#navground.core.Frame.absolute" title="navground.core.Frame.absolute"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.absolute()</span></code></a>.</p>
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@@ -130,7 +131,7 @@
   
   
   
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@@ -130,7 +131,7 @@
   
   
   
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index c82878e4..ab28c7a4 100644
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@@ -132,7 +133,7 @@
   
   
   
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diff --git a/docs/_build/html/reference/core/python/common.html b/docs/_build/html/reference/core/python/common.html
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/python/common';</script>
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -400,7 +401,9 @@ <h2> Contents </h2>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.Vector2"><code class="docutils literal notranslate"><span class="pre">Vector2</span></code></a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.__init__"><code class="docutils literal notranslate"><span class="pre">Pose2.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.absolute"><code class="docutils literal notranslate"><span class="pre">Pose2.absolute()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.integrate"><code class="docutils literal notranslate"><span class="pre">Pose2.integrate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.relative"><code class="docutils literal notranslate"><span class="pre">Pose2.relative()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.rotate"><code class="docutils literal notranslate"><span class="pre">Pose2.rotate()</span></code></a></li>
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 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.position"><code class="docutils literal notranslate"><span class="pre">Pose2.position</span></code></a></li>
@@ -408,6 +411,8 @@ <h2> Contents </h2>
 </li>
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.absolute"><code class="docutils literal notranslate"><span class="pre">Twist2.absolute()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.relative"><code class="docutils literal notranslate"><span class="pre">Twist2.relative()</span></code></a></li>
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@@ -483,6 +488,20 @@ <h1>Geometry<a class="headerlink" href="#geometry" title="Link to this heading">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">position</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.Vector2" title="navground.Vector2"><span class="pre">Vector2</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.core.Pose2.__init__" title="Link to this definition">#</a></dt>
 <dd></dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.core.Pose2.absolute">
+<span class="sig-name descname"><span class="pre">absolute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.core.Pose2" title="navground.core.Pose2"><span class="pre">navground.core.Pose2</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Pose2" title="navground.core.Pose2"><span class="pre">navground.core.Pose2</span></a></span></span><a class="headerlink" href="#navground.core.Pose2.absolute" title="Link to this definition">#</a></dt>
+<dd><p>Transform a relative pose to an absolute pose.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>reference</strong> – The reference pose</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The absolute pose</p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.core.Pose2.integrate">
 <span class="sig-name descname"><span class="pre">integrate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">twist</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.core.Twist2" title="navground.core.Twist2"><span class="pre">navground.core.Twist2</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Pose2" title="navground.core.Pose2"><span class="pre">navground.core.Pose2</span></a></span></span><a class="headerlink" href="#navground.core.Pose2.integrate" title="Link to this definition">#</a></dt>
@@ -497,6 +516,20 @@ <h1>Geometry<a class="headerlink" href="#geometry" title="Link to this heading">
 </dl>
 </dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.core.Pose2.relative">
+<span class="sig-name descname"><span class="pre">relative</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.core.Pose2" title="navground.core.Pose2"><span class="pre">navground.core.Pose2</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Pose2" title="navground.core.Pose2"><span class="pre">navground.core.Pose2</span></a></span></span><a class="headerlink" href="#navground.core.Pose2.relative" title="Link to this definition">#</a></dt>
+<dd><p>Transform an absolute pose to a relative pose.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>pose</strong> – The reference pose</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The relative pose</p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.core.Pose2.rotate">
 <span class="sig-name descname"><span class="pre">rotate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Pose2" title="navground.core.Pose2"><span class="pre">navground.core.Pose2</span></a></span></span><a class="headerlink" href="#navground.core.Pose2.rotate" title="Link to this definition">#</a></dt>
@@ -545,6 +578,36 @@ <h1>Geometry<a class="headerlink" href="#geometry" title="Link to this heading">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">velocity:</span> <span class="pre">Vector2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">angular_speed:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame:</span> <span class="pre">navground.core.Frame</span> <span class="pre">=</span> <span class="pre">&lt;Frame.absolute:</span> <span class="pre">1&gt;</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.core.Twist2.__init__" title="Link to this definition">#</a></dt>
 <dd></dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.core.Twist2.absolute">
+<span class="sig-name descname"><span class="pre">absolute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference:</span> <span class="pre">navground::core::Pose2</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Twist2" title="navground.core.Twist2"><span class="pre">navground.core.Twist2</span></a></span></span><a class="headerlink" href="#navground.core.Twist2.absolute" title="Link to this definition">#</a></dt>
+<dd><p>Transform a twist to <a class="reference internal" href="#navground.core.Frame.absolute" title="navground.core.Frame.absolute"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.absolute()</span></code></a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>value</strong> – The original twist</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The same twist in <a class="reference internal" href="#navground.core.Frame.absolute" title="navground.core.Frame.absolute"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.absolute()</span></code></a> (unchanged if already in
+<a class="reference internal" href="#navground.core.Frame.absolute" title="navground.core.Frame.absolute"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.absolute()</span></code></a>)</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.core.Twist2.relative">
+<span class="sig-name descname"><span class="pre">relative</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference:</span> <span class="pre">navground::core::Pose2</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Twist2" title="navground.core.Twist2"><span class="pre">navground.core.Twist2</span></a></span></span><a class="headerlink" href="#navground.core.Twist2.relative" title="Link to this definition">#</a></dt>
+<dd><p>Transform a twist to <a class="reference internal" href="#navground.core.Frame.relative" title="navground.core.Frame.relative"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.relative()</span></code></a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>frame</strong> – The reference pose</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The same twist in <a class="reference internal" href="#navground.core.Frame.relative" title="navground.core.Frame.relative"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.relative()</span></code></a> (unchanged if already in
+<a class="reference internal" href="#navground.core.Frame.relative" title="navground.core.Frame.relative"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.relative()</span></code></a>)</p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.core.Twist2.rotate">
 <span class="sig-name descname"><span class="pre">rotate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.core.Twist2" title="navground.core.Twist2"><span class="pre">navground.core.Twist2</span></a></span></span><a class="headerlink" href="#navground.core.Twist2.rotate" title="Link to this definition">#</a></dt>
@@ -651,7 +714,9 @@ <h1>Geometry<a class="headerlink" href="#geometry" title="Link to this heading">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.Vector2"><code class="docutils literal notranslate"><span class="pre">Vector2</span></code></a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.__init__"><code class="docutils literal notranslate"><span class="pre">Pose2.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.absolute"><code class="docutils literal notranslate"><span class="pre">Pose2.absolute()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.integrate"><code class="docutils literal notranslate"><span class="pre">Pose2.integrate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.relative"><code class="docutils literal notranslate"><span class="pre">Pose2.relative()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.rotate"><code class="docutils literal notranslate"><span class="pre">Pose2.rotate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.orientation"><code class="docutils literal notranslate"><span class="pre">Pose2.orientation</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Pose2.position"><code class="docutils literal notranslate"><span class="pre">Pose2.position</span></code></a></li>
@@ -659,6 +724,8 @@ <h1>Geometry<a class="headerlink" href="#geometry" title="Link to this heading">
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.__init__"><code class="docutils literal notranslate"><span class="pre">Twist2.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.absolute"><code class="docutils literal notranslate"><span class="pre">Twist2.absolute()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.relative"><code class="docutils literal notranslate"><span class="pre">Twist2.relative()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.rotate"><code class="docutils literal notranslate"><span class="pre">Twist2.rotate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.angular_speed"><code class="docutils literal notranslate"><span class="pre">Twist2.angular_speed</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Twist2.frame"><code class="docutils literal notranslate"><span class="pre">Twist2.frame</span></code></a></li>
diff --git a/docs/_build/html/reference/core/python/controller.html b/docs/_build/html/reference/core/python/controller.html
index 80c149a4..d76ef7fd 100644
--- a/docs/_build/html/reference/core/python/controller.html
+++ b/docs/_build/html/reference/core/python/controller.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Controller &#8212; navground 0.0.1 documentation</title>
+    <title>Controller &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/python/controller';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="YAML Schemas" href="../yaml/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/python/index.html b/docs/_build/html/reference/core/python/index.html
index ed328e1e..b22bb9c2 100644
--- a/docs/_build/html/reference/core/python/index.html
+++ b/docs/_build/html/reference/core/python/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Python API &#8212; navground 0.0.1 documentation</title>
+    <title>Python API &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/python/index';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Geometry" href="common.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -407,7 +408,9 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 <li class="toctree-l2"><a class="reference internal" href="common.html#navground.Vector2"><code class="docutils literal notranslate"><span class="pre">Vector2</span></code></a></li>
 <li class="toctree-l2"><a class="reference internal" href="common.html#navground.core.Pose2"><code class="docutils literal notranslate"><span class="pre">Pose2</span></code></a><ul>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.__init__"><code class="docutils literal notranslate"><span class="pre">Pose2.__init__()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.absolute"><code class="docutils literal notranslate"><span class="pre">Pose2.absolute()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.integrate"><code class="docutils literal notranslate"><span class="pre">Pose2.integrate()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.relative"><code class="docutils literal notranslate"><span class="pre">Pose2.relative()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.rotate"><code class="docutils literal notranslate"><span class="pre">Pose2.rotate()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.orientation"><code class="docutils literal notranslate"><span class="pre">Pose2.orientation</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Pose2.position"><code class="docutils literal notranslate"><span class="pre">Pose2.position</span></code></a></li>
@@ -415,6 +418,8 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 </li>
 <li class="toctree-l2"><a class="reference internal" href="common.html#navground.core.Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2</span></code></a><ul>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Twist2.__init__"><code class="docutils literal notranslate"><span class="pre">Twist2.__init__()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Twist2.absolute"><code class="docutils literal notranslate"><span class="pre">Twist2.absolute()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Twist2.relative"><code class="docutils literal notranslate"><span class="pre">Twist2.relative()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Twist2.rotate"><code class="docutils literal notranslate"><span class="pre">Twist2.rotate()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Twist2.angular_speed"><code class="docutils literal notranslate"><span class="pre">Twist2.angular_speed</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="common.html#navground.core.Twist2.frame"><code class="docutils literal notranslate"><span class="pre">Twist2.frame</span></code></a></li>
diff --git a/docs/_build/html/reference/core/python/kinematics.html b/docs/_build/html/reference/core/python/kinematics.html
index 76ef4840..426d1ae1 100644
--- a/docs/_build/html/reference/core/python/kinematics.html
+++ b/docs/_build/html/reference/core/python/kinematics.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Kinematics &#8212; navground 0.0.1 documentation</title>
+    <title>Kinematics &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
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@@ -397,6 +398,7 @@ <h2> Contents </h2>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.get"><code class="docutils literal notranslate"><span class="pre">Kinematics.get()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.make_type"><code class="docutils literal notranslate"><span class="pre">Kinematics.make_type()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.set"><code class="docutils literal notranslate"><span class="pre">Kinematics.set()</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.cmd_frame"><code class="docutils literal notranslate"><span class="pre">Kinematics.cmd_frame</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.dof"><code class="docutils literal notranslate"><span class="pre">Kinematics.dof</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.is_wheeled"><code class="docutils literal notranslate"><span class="pre">Kinematics.is_wheeled</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.max_angular_speed"><code class="docutils literal notranslate"><span class="pre">Kinematics.max_angular_speed</span></code></a></li>
@@ -541,6 +543,18 @@ <h3>Kinematics base class<a class="headerlink" href="#kinematics-base-class" tit
 </dl>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.core.Kinematics.cmd_frame">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">cmd_frame</span></span><a class="headerlink" href="#navground.core.Kinematics.cmd_frame" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="common.html#navground.core.Frame" title="navground.core.Frame">navground.core.Frame</a></p>
+</dd>
+</dl>
+<p>The most natural frame for this kinematics: <a class="reference internal" href="common.html#navground.core.Frame.relative" title="navground.core.Frame.relative"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.relative()</span></code></a> in
+case the agent is wheeled, else <a class="reference internal" href="common.html#navground.core.Frame.absolute" title="navground.core.Frame.absolute"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Frame.absolute()</span></code></a>.</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.core.Kinematics.dof">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">dof</span></span><a class="headerlink" href="#navground.core.Kinematics.dof" title="Link to this definition">#</a></dt>
@@ -823,6 +837,7 @@ <h2>Four wheels omnidirectional drive<a class="headerlink" href="#four-wheels-om
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.get"><code class="docutils literal notranslate"><span class="pre">Kinematics.get()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.make_type"><code class="docutils literal notranslate"><span class="pre">Kinematics.make_type()</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.set"><code class="docutils literal notranslate"><span class="pre">Kinematics.set()</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.cmd_frame"><code class="docutils literal notranslate"><span class="pre">Kinematics.cmd_frame</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.dof"><code class="docutils literal notranslate"><span class="pre">Kinematics.dof</span></code></a></li>
 <li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.core.Kinematics.is_wheeled"><code class="docutils literal notranslate"><span class="pre">Kinematics.is_wheeled</span></code></a></li>
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index cfd2806e..cb67b275 100644
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@@ -130,7 +131,7 @@
   
   
   
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index bcb254e9..fca7b11f 100644
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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@@ -130,7 +131,7 @@
   
   
   
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index c94f84a9..2676da1e 100644
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@@ -130,7 +131,7 @@
   
   
   
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/yaml/kinematics';</script>
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     <link rel="search" title="Search" href="../../../search.html" />
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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diff --git a/docs/_build/html/reference/core/yaml/social_margin.html b/docs/_build/html/reference/core/yaml/social_margin.html
index 38020d47..2db43f39 100644
--- a/docs/_build/html/reference/core/yaml/social_margin.html
+++ b/docs/_build/html/reference/core/yaml/social_margin.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Social margin &#8212; navground 0.0.1 documentation</title>
+    <title>Social margin &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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@@ -38,7 +38,7 @@
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/yaml/social_margin';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Behavior" href="behavior.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/core/yaml/state.html b/docs/_build/html/reference/core/yaml/state.html
index e57dd294..595bc9fb 100644
--- a/docs/_build/html/reference/core/yaml/state.html
+++ b/docs/_build/html/reference/core/yaml/state.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Environment State &#8212; navground 0.0.1 documentation</title>
+    <title>Environment State &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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@@ -38,7 +38,7 @@
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/core/yaml/state';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Simulation" href="../../sim/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/index.html b/docs/_build/html/reference/index.html
index 2036ca2d..8e66de4e 100644
--- a/docs/_build/html/reference/index.html
+++ b/docs/_build/html/reference/index.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Reference &#8212; navground 0.0.1 documentation</title>
+    <title>Reference &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/index';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Core" href="core/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/agent.html b/docs/_build/html/reference/sim/cpp/agent.html
index bdeac9e1..f43705a3 100644
--- a/docs/_build/html/reference/sim/cpp/agent.html
+++ b/docs/_build/html/reference/sim/cpp/agent.html
@@ -8,7 +8,7 @@
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-    <title>Agent &#8212; navground 0.0.1 documentation</title>
+    <title>Agent &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/agent';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Tasks" href="tasks/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -403,6 +404,7 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent14get_controllerEv"><code class="docutils literal notranslate"><span class="pre">Agent::get_controller()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim5Agent4idleEv"><code class="docutils literal notranslate"><span class="pre">Agent::idle()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim5Agent12get_last_cmdEN4core5FrameE"><code class="docutils literal notranslate"><span class="pre">Agent::get_last_cmd()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent7actuateERK6Twist2f"><code class="docutils literal notranslate"><span class="pre">Agent::actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent2idE"><code class="docutils literal notranslate"><span class="pre">Agent::id</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent6radiusE"><code class="docutils literal notranslate"><span class="pre">Agent::radius</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent14control_periodE"><code class="docutils literal notranslate"><span class="pre">Agent::control_period</span></code></a></li>
@@ -594,6 +596,20 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
 </dl>
 </dd></dl>
 
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim5Agent7actuateERK6Twist2f">
+<span class="target" id="classnavground_1_1sim_1_1_agent_1ab55994efb9639375a47738d293614d98"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">actuate</span></span></span><span class="sig-paren">(</span><span class="k"><span class="pre">const</span></span><span class="w"> </span><a class="reference internal" href="../../core/cpp/common.html#_CPPv4N9navground4core6Twist2E" title="navground::core::Twist2"><span class="n"><span class="pre">Twist2</span></span></a><span class="w"> </span><span class="p"><span class="pre">&amp;</span></span><span class="n sig-param"><span class="pre">cmd</span></span>, <span class="kt"><span class="pre">float</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">dt</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim5Agent7actuateERK6Twist2f" title="Link to this definition">#</a><br /></dt>
+<dd><p>Actuate the current agent control command. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dt</strong> – <strong>[in]</strong> The time step </p></li>
+<li><p><strong>cmd</strong> – <strong>[in]</strong> The desired command </p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
 </div>
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-members">Public Members</p>
@@ -742,6 +758,7 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent14get_controllerEv"><code class="docutils literal notranslate"><span class="pre">Agent::get_controller()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim5Agent4idleEv"><code class="docutils literal notranslate"><span class="pre">Agent::idle()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim5Agent12get_last_cmdEN4core5FrameE"><code class="docutils literal notranslate"><span class="pre">Agent::get_last_cmd()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent7actuateERK6Twist2f"><code class="docutils literal notranslate"><span class="pre">Agent::actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent2idE"><code class="docutils literal notranslate"><span class="pre">Agent::id</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent6radiusE"><code class="docutils literal notranslate"><span class="pre">Agent::radius</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5Agent14control_periodE"><code class="docutils literal notranslate"><span class="pre">Agent::control_period</span></code></a></li>
diff --git a/docs/_build/html/reference/sim/cpp/experiment.html b/docs/_build/html/reference/sim/cpp/experiment.html
index 287a1d2a..43aefa65 100644
--- a/docs/_build/html/reference/sim/cpp/experiment.html
+++ b/docs/_build/html/reference/sim/cpp/experiment.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Experiment &#8212; navground 0.0.1 documentation</title>
+    <title>Experiment &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/experiment';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="YAML" href="yaml.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -552,7 +553,7 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 <span class="target" id="structnavground_1_1sim_1_1_experiment_1a065e9fc852d7236b7fd2bfc38d6dcc4f"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">run_once</span></span></span><span class="sig-paren">(</span><span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">seed</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim10Experiment8run_onceEi" title="Link to this definition">#</a><br /></dt>
 <dd><p>Perform a single run. </p>
 <p><ol class="lowerroman simple">
-<li><p>it initializes a world from its scenario by calling <a class="reference internal" href="scenarios/scenario.html#structnavground_1_1sim_1_1_scenario_1a507eafe1ae50ed9a3786b22b3e81b84d"><span class="std std-ref">Scenario::init_world</span></a></p></li>
+<li><p>it initializes a world from its scenario by calling <a class="reference internal" href="scenarios/scenario.html#structnavground_1_1sim_1_1_scenario_1aa732ca10194dca16bb9625bda98e1f20"><span class="std std-ref">Scenario::init_world</span></a></p></li>
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-    <title>C++ API &#8212; navground 0.0.1 documentation</title>
+    <title>C++ API &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/index';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="World" href="world.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/sampling.html b/docs/_build/html/reference/sim/cpp/sampling.html
index ed2c69ac..d925fd6b 100644
--- a/docs/_build/html/reference/sim/cpp/sampling.html
+++ b/docs/_build/html/reference/sim/cpp/sampling.html
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-    <title>Sampling &#8212; navground 0.0.1 documentation</title>
+    <title>Sampling &#8212; navground 0.0.2 documentation</title>
   
   
   
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/sampling';</script>
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     <link rel="next" title="Scenarios" href="scenarios/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/scenarios/antipodal.html b/docs/_build/html/reference/sim/cpp/scenarios/antipodal.html
index e3145d15..f76c8ee8 100644
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-    <title>Antipodal &#8212; navground 0.0.1 documentation</title>
+    <title>Antipodal &#8212; navground 0.0.2 documentation</title>
   
   
   
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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index 72431ced..14489deb 100644
--- a/docs/_build/html/reference/sim/cpp/scenarios/corridor.html
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-    <title>Corridor &#8212; navground 0.0.1 documentation</title>
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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-    <title>Cross &#8212; navground 0.0.1 documentation</title>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/scenarios/cross';</script>
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
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diff --git a/docs/_build/html/reference/sim/cpp/scenarios/cross_torus.html b/docs/_build/html/reference/sim/cpp/scenarios/cross_torus.html
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Scenarios &#8212; navground 0.0.1 documentation</title>
+    <title>Scenarios &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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@@ -38,7 +38,7 @@
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/scenarios/index';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Base class" href="scenario.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/scenarios/scenario.html b/docs/_build/html/reference/sim/cpp/scenarios/scenario.html
index f194b1a8..fc8f2792 100644
--- a/docs/_build/html/reference/sim/cpp/scenarios/scenario.html
+++ b/docs/_build/html/reference/sim/cpp/scenarios/scenario.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Base class &#8212; navground 0.0.1 documentation</title>
+    <title>Base class &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/scenarios/scenario';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Simple" href="simple.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -393,7 +394,7 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario4InitE"><code class="docutils literal notranslate"><span class="pre">Scenario::Init</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario5InitsE"><code class="docutils literal notranslate"><span class="pre">Scenario::Inits</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario8ScenarioERK5Inits"><code class="docutils literal notranslate"><span class="pre">Scenario::Scenario()</span></code></a></li>
-<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario10init_worldEP5Worldi"><code class="docutils literal notranslate"><span class="pre">Scenario::init_world()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario10init_worldEP5WorldNSt8optionalIiEE"><code class="docutils literal notranslate"><span class="pre">Scenario::init_world()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario8add_initERKNSt8functionIFvP5WorldEEE"><code class="docutils literal notranslate"><span class="pre">Scenario::add_init()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim8Scenario16get_initializersEv"><code class="docutils literal notranslate"><span class="pre">Scenario::get_initializers()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario6groupsE"><code class="docutils literal notranslate"><span class="pre">Scenario::groups</span></code></a></li>
@@ -457,8 +458,8 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 </dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim8Scenario10init_worldEP5Worldi">
-<span class="target" id="structnavground_1_1sim_1_1_scenario_1a507eafe1ae50ed9a3786b22b3e81b84d"></span><span class="k"><span class="pre">virtual</span></span><span class="w"> </span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">init_world</span></span></span><span class="sig-paren">(</span><a class="reference internal" href="../world.html#_CPPv4N9navground3sim5WorldE" title="navground::sim::World"><span class="n"><span class="pre">World</span></span></a><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">world</span></span>, <span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">seed</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="m"><span class="pre">0</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim8Scenario10init_worldEP5Worldi" title="Link to this definition">#</a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim8Scenario10init_worldEP5WorldNSt8optionalIiEE">
+<span class="target" id="structnavground_1_1sim_1_1_scenario_1aa732ca10194dca16bb9625bda98e1f20"></span><span class="k"><span class="pre">virtual</span></span><span class="w"> </span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">init_world</span></span></span><span class="sig-paren">(</span><a class="reference internal" href="../world.html#_CPPv4N9navground3sim5WorldE" title="navground::sim::World"><span class="n"><span class="pre">World</span></span></a><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">world</span></span>, <span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">optional</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">int</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">seed</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">nullopt</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim8Scenario10init_worldEP5WorldNSt8optionalIiEE" title="Link to this definition">#</a><br /></dt>
 <dd><p>Initializes the world. </p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
@@ -598,7 +599,7 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario4InitE"><code class="docutils literal notranslate"><span class="pre">Scenario::Init</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario5InitsE"><code class="docutils literal notranslate"><span class="pre">Scenario::Inits</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario8ScenarioERK5Inits"><code class="docutils literal notranslate"><span class="pre">Scenario::Scenario()</span></code></a></li>
-<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario10init_worldEP5Worldi"><code class="docutils literal notranslate"><span class="pre">Scenario::init_world()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario10init_worldEP5WorldNSt8optionalIiEE"><code class="docutils literal notranslate"><span class="pre">Scenario::init_world()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario8add_initERKNSt8functionIFvP5WorldEEE"><code class="docutils literal notranslate"><span class="pre">Scenario::add_init()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim8Scenario16get_initializersEv"><code class="docutils literal notranslate"><span class="pre">Scenario::get_initializers()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim8Scenario6groupsE"><code class="docutils literal notranslate"><span class="pre">Scenario::groups</span></code></a></li>
diff --git a/docs/_build/html/reference/sim/cpp/scenarios/simple.html b/docs/_build/html/reference/sim/cpp/scenarios/simple.html
index 7519e9cf..de8c9ab9 100644
--- a/docs/_build/html/reference/sim/cpp/scenarios/simple.html
+++ b/docs/_build/html/reference/sim/cpp/scenarios/simple.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Simple &#8212; navground 0.0.1 documentation</title>
+    <title>Simple &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/scenarios/simple';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Antipodal" href="antipodal.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -390,7 +391,7 @@ <h2> Contents </h2>
             <nav aria-label="Page">
                 <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim14SimpleScenarioE"><code class="docutils literal notranslate"><span class="pre">SimpleScenario</span></code></a><ul class="nav section-nav flex-column">
-<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5Worldi"><code class="docutils literal notranslate"><span class="pre">SimpleScenario::init_world()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5WorldNSt8optionalIiEE"><code class="docutils literal notranslate"><span class="pre">SimpleScenario::init_world()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim14SimpleScenario8get_typeEv"><code class="docutils literal notranslate"><span class="pre">SimpleScenario::get_type()</span></code></a></li>
 </ul>
 </li>
@@ -418,8 +419,8 @@ <h1>Simple<a class="headerlink" href="#simple" title="Link to this heading">#</a
 <div class="breathe-sectiondef docutils container">
 <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim14SimpleScenario10init_worldEP5Worldi">
-<span class="target" id="structnavground_1_1sim_1_1_simple_scenario_1a92b44f3990d77d2152f9a08ce11a07ce"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><span class="k"><span class="pre">virtual</span></span><span class="w"> </span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">init_world</span></span></span><span class="sig-paren">(</span><a class="reference internal" href="../world.html#_CPPv4N9navground3sim5WorldE" title="navground::sim::World"><span class="n"><span class="pre">World</span></span></a><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">world</span></span>, <span class="kt"><span class="pre">int</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">seed</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">override</span></span><a class="headerlink" href="#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5Worldi" title="Link to this definition">#</a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim14SimpleScenario10init_worldEP5WorldNSt8optionalIiEE">
+<span class="target" id="structnavground_1_1sim_1_1_simple_scenario_1ae15364f1294fba0da79365818e2ea7b0"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><span class="k"><span class="pre">virtual</span></span><span class="w"> </span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">init_world</span></span></span><span class="sig-paren">(</span><a class="reference internal" href="../world.html#_CPPv4N9navground3sim5WorldE" title="navground::sim::World"><span class="n"><span class="pre">World</span></span></a><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">world</span></span>, <span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">optional</span></span><span class="p"><span class="pre">&lt;</span></span><span class="kt"><span class="pre">int</span></span><span class="p"><span class="pre">&gt;</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">seed</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">::</span></span><span class="n"><span class="pre">nullopt</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">override</span></span><a class="headerlink" href="#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5WorldNSt8optionalIiEE" title="Link to this definition">#</a><br /></dt>
 <dd><p>Initializes the world. </p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
@@ -492,7 +493,7 @@ <h1>Simple<a class="headerlink" href="#simple" title="Link to this heading">#</a
   <nav class="bd-toc-nav page-toc">
     <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim14SimpleScenarioE"><code class="docutils literal notranslate"><span class="pre">SimpleScenario</span></code></a><ul class="nav section-nav flex-column">
-<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5Worldi"><code class="docutils literal notranslate"><span class="pre">SimpleScenario::init_world()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim14SimpleScenario10init_worldEP5WorldNSt8optionalIiEE"><code class="docutils literal notranslate"><span class="pre">SimpleScenario::init_world()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim14SimpleScenario8get_typeEv"><code class="docutils literal notranslate"><span class="pre">SimpleScenario::get_type()</span></code></a></li>
 </ul>
 </li>
diff --git a/docs/_build/html/reference/sim/cpp/state_estimations/geometric_bounded.html b/docs/_build/html/reference/sim/cpp/state_estimations/geometric_bounded.html
index f5118106..d0f4ea8c 100644
--- a/docs/_build/html/reference/sim/cpp/state_estimations/geometric_bounded.html
+++ b/docs/_build/html/reference/sim/cpp/state_estimations/geometric_bounded.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Geometric bounded &#8212; navground 0.0.1 documentation</title>
+    <title>Geometric bounded &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/state_estimations/geometric_bounded';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Sampling" href="../sampling.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/state_estimations/index.html b/docs/_build/html/reference/sim/cpp/state_estimations/index.html
index bd580ca9..228b10e2 100644
--- a/docs/_build/html/reference/sim/cpp/state_estimations/index.html
+++ b/docs/_build/html/reference/sim/cpp/state_estimations/index.html
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>State estimations &#8212; navground 0.0.1 documentation</title>
+    <title>State estimations &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/state_estimations/index';</script>
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     <link rel="next" title="Base class" href="state_estimation.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/state_estimations/state_estimation.html b/docs/_build/html/reference/sim/cpp/state_estimations/state_estimation.html
index 17c1dfd1..d1b4ea1a 100644
--- a/docs/_build/html/reference/sim/cpp/state_estimations/state_estimation.html
+++ b/docs/_build/html/reference/sim/cpp/state_estimations/state_estimation.html
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-    <title>Base class &#8212; navground 0.0.1 documentation</title>
+    <title>Base class &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/state_estimations/state_estimation';</script>
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     <link rel="next" title="Geometric bounded" href="geometric_bounded.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -389,7 +390,10 @@ <h2> Contents </h2>
             </div>
             <nav aria-label="Page">
                 <ul class="visible nav section-nav flex-column">
-<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim15StateEstimationE"><code class="docutils literal notranslate"><span class="pre">StateEstimation</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim15StateEstimationE"><code class="docutils literal notranslate"><span class="pre">StateEstimation</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim15StateEstimation6updateEP5AgentP5WorldP16EnvironmentState"><code class="docutils literal notranslate"><span class="pre">StateEstimation::update()</span></code></a></li>
+</ul>
+</li>
 </ul>
             </nav>
         </div>
@@ -414,6 +418,24 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <p>In particular, the agent should use a state estimation compatible with it’s state representation.</p>
 <p><a class="reference internal" href="#structnavground_1_1sim_1_1_state_estimation"><span class="std std-ref">StateEstimation</span></a> holds a pointer to the <a class="reference internal" href="../world.html#classnavground_1_1sim_1_1_world"><span class="std std-ref">World</span></a> containing the agent, which it queries to get the relevant entities (located nearby the agent). </p>
 <p>Subclassed by <a class="reference internal" href="geometric_bounded.html#structnavground_1_1sim_1_1_bounded_state_estimation"><span class="std std-ref">navground::sim::BoundedStateEstimation</span></a></p>
+<div class="breathe-sectiondef docutils container">
+<p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-functions">Public Functions</p>
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4NK9navground3sim15StateEstimation6updateEP5AgentP5WorldP16EnvironmentState">
+<span class="target" id="structnavground_1_1sim_1_1_state_estimation_1a6599935242c387cafe6a020c35dabcaf"></span><span class="k"><span class="pre">inline</span></span><span class="w"> </span><span class="k"><span class="pre">virtual</span></span><span class="w"> </span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">update</span></span></span><span class="sig-paren">(</span><a class="reference internal" href="../agent.html#_CPPv4N9navground3sim5AgentE" title="navground::sim::Agent"><span class="n"><span class="pre">Agent</span></span></a><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">agent</span></span>, <a class="reference internal" href="../world.html#_CPPv4N9navground3sim5WorldE" title="navground::sim::World"><span class="n"><span class="pre">World</span></span></a><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">world</span></span>, <span class="n"><span class="pre">EnvironmentState</span></span><span class="w"> </span><span class="p"><span class="pre">*</span></span><span class="n sig-param"><span class="pre">state</span></span><span class="sig-paren">)</span><span class="w"> </span><span class="k"><span class="pre">const</span></span><a class="headerlink" href="#_CPPv4NK9navground3sim15StateEstimation6updateEP5AgentP5WorldP16EnvironmentState" title="Link to this definition">#</a><br /></dt>
+<dd><p>Updates an environment state with respect to a given agent. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>agent</strong> – The agent owning the state estimation </p></li>
+<li><p><strong>world</strong> – <strong>[in]</strong> The world that the agent is part of </p></li>
+<li><p><strong>state</strong> – The environment state to be updated </p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</div>
 </dd></dl>
 
 </section>
@@ -462,7 +484,10 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
   </div>
   <nav class="bd-toc-nav page-toc">
     <ul class="visible nav section-nav flex-column">
-<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim15StateEstimationE"><code class="docutils literal notranslate"><span class="pre">StateEstimation</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim15StateEstimationE"><code class="docutils literal notranslate"><span class="pre">StateEstimation</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim15StateEstimation6updateEP5AgentP5WorldP16EnvironmentState"><code class="docutils literal notranslate"><span class="pre">StateEstimation::update()</span></code></a></li>
+</ul>
+</li>
 </ul>
   </nav></div>
 
diff --git a/docs/_build/html/reference/sim/cpp/tasks/index.html b/docs/_build/html/reference/sim/cpp/tasks/index.html
index d0830f66..10a414c1 100644
--- a/docs/_build/html/reference/sim/cpp/tasks/index.html
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-    <title>Tasks &#8212; navground 0.0.1 documentation</title>
+    <title>Tasks &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/tasks/index';</script>
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     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Base class" href="task.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/tasks/task.html b/docs/_build/html/reference/sim/cpp/tasks/task.html
index b273e67c..623fe63b 100644
--- a/docs/_build/html/reference/sim/cpp/tasks/task.html
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-    <title>Base class &#8212; navground 0.0.1 documentation</title>
+    <title>Base class &#8212; navground 0.0.2 documentation</title>
   
   
   
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+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/tasks/task';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Waypoints" href="waypoints.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/tasks/waypoints.html b/docs/_build/html/reference/sim/cpp/tasks/waypoints.html
index 84f01324..882727a8 100644
--- a/docs/_build/html/reference/sim/cpp/tasks/waypoints.html
+++ b/docs/_build/html/reference/sim/cpp/tasks/waypoints.html
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Waypoints &#8212; navground 0.0.1 documentation</title>
+    <title>Waypoints &#8212; navground 0.0.2 documentation</title>
   
   
   
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
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@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/tasks/waypoints';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="State estimations" href="../state_estimations/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/cpp/world.html b/docs/_build/html/reference/sim/cpp/world.html
index 0e450213..b57ed0db 100644
--- a/docs/_build/html/reference/sim/cpp/world.html
+++ b/docs/_build/html/reference/sim/cpp/world.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>World &#8212; navground 0.0.1 documentation</title>
+    <title>World &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/world';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Agent" href="agent.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -415,7 +416,8 @@ <h2> Contents </h2>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5WorldE"><code class="docutils literal notranslate"><span class="pre">World</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World5WorldEv"><code class="docutils literal notranslate"><span class="pre">World::World()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World6updateEf"><code class="docutils literal notranslate"><span class="pre">World::update()</span></code></a></li>
-<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World10update_dryEf"><code class="docutils literal notranslate"><span class="pre">World::update_dry()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World10update_dryEfb"><code class="docutils literal notranslate"><span class="pre">World::update_dry()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World7actuateEf"><code class="docutils literal notranslate"><span class="pre">World::actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World3runEjf"><code class="docutils literal notranslate"><span class="pre">World::run()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World9run_untilENSt8functionIFbvEEEf"><code class="docutils literal notranslate"><span class="pre">World::run_until()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim5World8get_timeEv"><code class="docutils literal notranslate"><span class="pre">World::get_time()</span></code></a></li>
@@ -656,12 +658,26 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 </dd></dl>
 
 <dl class="cpp function">
-<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim5World10update_dryEf">
-<span class="target" id="classnavground_1_1sim_1_1_world_1ac807b1debd0b36b1c87cbef4fae91e4e"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">update_dry</span></span></span><span class="sig-paren">(</span><span class="kt"><span class="pre">float</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">time_step</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim5World10update_dryEf" title="Link to this definition">#</a><br /></dt>
+<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim5World10update_dryEfb">
+<span class="target" id="classnavground_1_1sim_1_1_world_1a19c5316ee1f1d3ef053c3a8dec41ed91"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">update_dry</span></span></span><span class="sig-paren">(</span><span class="kt"><span class="pre">float</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">time_step</span></span>, <span class="kt"><span class="pre">bool</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">advance_time</span></span><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="k"><span class="pre">true</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim5World10update_dryEfb" title="Link to this definition">#</a><br /></dt>
 <dd><p>Updates world for a single time step without actuation and collisions resolution. </p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
-<dd class="field-odd"><p><strong>time_step</strong> – <strong>[in]</strong> The time step </p>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>time_step</strong> – <strong>[in]</strong> The time step </p></li>
+<li><p><strong>advance_time</strong> – <strong>[in]</strong> Whenever to advance time too. </p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="cpp function">
+<dt class="sig sig-object cpp" id="_CPPv4N9navground3sim5World7actuateEf">
+<span class="target" id="classnavground_1_1sim_1_1_world_1a80f2b22fccf44837f6f927c502ba7fd1"></span><span class="kt"><span class="pre">void</span></span><span class="w"> </span><span class="sig-name descname"><span class="n"><span class="pre">actuate</span></span></span><span class="sig-paren">(</span><span class="kt"><span class="pre">float</span></span><span class="w"> </span><span class="n sig-param"><span class="pre">time_step</span></span><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv4N9navground3sim5World7actuateEf" title="Link to this definition">#</a><br /></dt>
+<dd><p>Actuate then controllers and perform collisions resolutions. </p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>time_step</strong> – <strong>[in]</strong> The duration of each time step </p>
 </dd>
 </dl>
 </dd></dl>
@@ -1089,7 +1105,8 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5WorldE"><code class="docutils literal notranslate"><span class="pre">World</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World5WorldEv"><code class="docutils literal notranslate"><span class="pre">World::World()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World6updateEf"><code class="docutils literal notranslate"><span class="pre">World::update()</span></code></a></li>
-<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World10update_dryEf"><code class="docutils literal notranslate"><span class="pre">World::update_dry()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World10update_dryEfb"><code class="docutils literal notranslate"><span class="pre">World::update_dry()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World7actuateEf"><code class="docutils literal notranslate"><span class="pre">World::actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World3runEjf"><code class="docutils literal notranslate"><span class="pre">World::run()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4N9navground3sim5World9run_untilENSt8functionIFbvEEEf"><code class="docutils literal notranslate"><span class="pre">World::run_until()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#_CPPv4NK9navground3sim5World8get_timeEv"><code class="docutils literal notranslate"><span class="pre">World::get_time()</span></code></a></li>
diff --git a/docs/_build/html/reference/sim/cpp/yaml.html b/docs/_build/html/reference/sim/cpp/yaml.html
index 452589e6..3f208d5a 100644
--- a/docs/_build/html/reference/sim/cpp/yaml.html
+++ b/docs/_build/html/reference/sim/cpp/yaml.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>YAML &#8212; navground 0.0.1 documentation</title>
+    <title>YAML &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
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     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/cpp/yaml';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Python API" href="../python/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/index.html b/docs/_build/html/reference/sim/index.html
index ce9d1ee6..614af46d 100644
--- a/docs/_build/html/reference/sim/index.html
+++ b/docs/_build/html/reference/sim/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Simulation &#8212; navground 0.0.1 documentation</title>
+    <title>Simulation &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../_static/doctools.js?v=888ff710"></script>
     <script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/index';</script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="C++ API" href="cpp/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/agent.html b/docs/_build/html/reference/sim/python/agent.html
index 4134f5b5..0ee72af1 100644
--- a/docs/_build/html/reference/sim/python/agent.html
+++ b/docs/_build/html/reference/sim/python/agent.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Agent &#8212; navground 0.0.1 documentation</title>
+    <title>Agent &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/agent';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Tasks" href="tasks/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -391,9 +392,19 @@ <h2> Contents </h2>
                 <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent"><code class="docutils literal notranslate"><span class="pre">Agent</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.__init__"><code class="docutils literal notranslate"><span class="pre">Agent.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.actuate"><code class="docutils literal notranslate"><span class="pre">Agent.actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.angular_speed"><code class="docutils literal notranslate"><span class="pre">Agent.angular_speed</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.control_period"><code class="docutils literal notranslate"><span class="pre">Agent.control_period</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.id"><code class="docutils literal notranslate"><span class="pre">Agent.id</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.idle"><code class="docutils literal notranslate"><span class="pre">Agent.idle</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.last_cmd"><code class="docutils literal notranslate"><span class="pre">Agent.last_cmd</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.orientation"><code class="docutils literal notranslate"><span class="pre">Agent.orientation</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.pose"><code class="docutils literal notranslate"><span class="pre">Agent.pose</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.position"><code class="docutils literal notranslate"><span class="pre">Agent.position</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.radius"><code class="docutils literal notranslate"><span class="pre">Agent.radius</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.tags"><code class="docutils literal notranslate"><span class="pre">Agent.tags</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.twist"><code class="docutils literal notranslate"><span class="pre">Agent.twist</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.type"><code class="docutils literal notranslate"><span class="pre">Agent.type</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.velocity"><code class="docutils literal notranslate"><span class="pre">Agent.velocity</span></code></a></li>
 </ul>
 </li>
@@ -413,10 +424,48 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Agent">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Agent</span></span><a class="headerlink" href="#navground.sim.Agent" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>This class describes an agent.</p>
+<p>The agent navigates in the environment using a task, a state
+estimation, a kinematic and a behavior, and a controller.</p>
+<p>Agents have a circular shape which should match the shape of their
+navigation <a class="reference internal" href="../../core/python/behaviors/behavior.html#navground.core.Behavior" title="navground.core.Behavior"><code class="xref py py-class docutils literal notranslate"><span class="pre">Behavior</span></code></a>.</p>
+<p>The role of task and state estimation is to provide goals and
+environment state (perception) to the behavior.</p>
+<p>Agents have a public identifies <a class="reference internal" href="#navground.sim.Agent.id" title="navground.sim.Agent.id"><code class="xref py py-attr docutils literal notranslate"><span class="pre">id</span></code></a> that is accessible by the
+other agents’ state estimation and may be passed to their behavior as
+<a class="reference internal" href="../../core/python/state.html#navground.core.Neighbor.id" title="navground.core.Neighbor.id"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Neighbor.id</span></code></a>. This identifier may not be unique
+(e.g., may be used to identifies <em>groups</em> of agents).</p>
+<p>Agents runs their update at the rate set by <a class="reference internal" href="#navground.sim.Agent.control_period" title="navground.sim.Agent.control_period"><code class="xref py py-attr docutils literal notranslate"><span class="pre">control_period</span></code></a> even
+if the world is updated at a faster rate.</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Agent.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">radius</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">behavior</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">object</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">kinematics</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">object</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">task</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">object</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">state_estimation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">object</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">control_period</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Agent.__init__" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>radius</strong> – The radius of the agent</p></li>
+<li><p><strong>behavior</strong> – The behavior</p></li>
+<li><p><strong>kinematics</strong> – The kinematics</p></li>
+<li><p><strong>task</strong> – The task</p></li>
+<li><p><strong>estimation</strong> – The estimation</p></li>
+<li><p><strong>control_period</strong> – The control period</p></li>
+<li><p><strong>id</strong> – The public identifier</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.sim.Agent.actuate">
+<span class="sig-name descname"><span class="pre">actuate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cmd</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../core/python/common.html#navground.core.Twist2" title="navground.core.Twist2"><span class="pre">navground.core.Twist2</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Agent.actuate" title="Link to this definition">#</a></dt>
+<dd><p>Actuate the current agent control command.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time step</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Agent.angular_speed">
@@ -429,6 +478,55 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
 <p>Angular speed</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.control_period">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">control_period</span></span><a class="headerlink" href="#navground.sim.Agent.control_period" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The control period</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.id">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">id</span></span><a class="headerlink" href="#navground.sim.Agent.id" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The agent public identifier</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.idle">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">idle</span></span><a class="headerlink" href="#navground.sim.Agent.idle" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Returns whether the task is done and the control is idle.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>False if it has an active task or if the control is running</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.last_cmd">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">last_cmd</span></span><a class="headerlink" href="#navground.sim.Agent.last_cmd" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="../../core/python/common.html#navground.core.Twist2" title="navground.core.Twist2">navground.core.Twist2</a></p>
+</dd>
+</dl>
+<p>The last control command</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Agent.orientation">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">orientation</span></span><a class="headerlink" href="#navground.sim.Agent.orientation" title="Link to this definition">#</a></dt>
@@ -440,6 +538,17 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
 <p>Orientation</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.pose">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">pose</span></span><a class="headerlink" href="#navground.sim.Agent.pose" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="../../core/python/common.html#navground.core.Pose2" title="navground.core.Pose2">navground.core.Pose2</a></p>
+</dd>
+</dl>
+<p>The current pose</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Agent.position">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">position</span></span><a class="headerlink" href="#navground.sim.Agent.position" title="Link to this definition">#</a></dt>
@@ -451,6 +560,55 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
 <p>Position</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.radius">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">radius</span></span><a class="headerlink" href="#navground.sim.Agent.radius" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The agent radius</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.tags">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">tags</span></span><a class="headerlink" href="#navground.sim.Agent.tags" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Set[str]</p>
+</dd>
+</dl>
+<p>A set of tags used to label the agent.</p>
+<p>Tags are mainly used to add meta-information about an agent, for
+instance by the <code class="xref py py-class docutils literal notranslate"><span class="pre">Group</span></code> that generated it
+(if any), to simplify analysis.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.twist">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">twist</span></span><a class="headerlink" href="#navground.sim.Agent.twist" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="../../core/python/common.html#navground.core.Twist2" title="navground.core.Twist2">navground.core.Twist2</a></p>
+</dd>
+</dl>
+<p>The current twist</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Agent.type">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">type</span></span><a class="headerlink" href="#navground.sim.Agent.type" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>str</p>
+</dd>
+</dl>
+<p>The type of the agent.</p>
+<p>The agent type should not used by the neighbors state estimation. It
+is mainly used internally to draw the agents in the UI.</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Agent.velocity">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">velocity</span></span><a class="headerlink" href="#navground.sim.Agent.velocity" title="Link to this definition">#</a></dt>
@@ -512,9 +670,19 @@ <h1>Agent<a class="headerlink" href="#agent" title="Link to this heading">#</a><
     <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent"><code class="docutils literal notranslate"><span class="pre">Agent</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.__init__"><code class="docutils literal notranslate"><span class="pre">Agent.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.actuate"><code class="docutils literal notranslate"><span class="pre">Agent.actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.angular_speed"><code class="docutils literal notranslate"><span class="pre">Agent.angular_speed</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.control_period"><code class="docutils literal notranslate"><span class="pre">Agent.control_period</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.id"><code class="docutils literal notranslate"><span class="pre">Agent.id</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.idle"><code class="docutils literal notranslate"><span class="pre">Agent.idle</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.last_cmd"><code class="docutils literal notranslate"><span class="pre">Agent.last_cmd</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.orientation"><code class="docutils literal notranslate"><span class="pre">Agent.orientation</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.pose"><code class="docutils literal notranslate"><span class="pre">Agent.pose</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.position"><code class="docutils literal notranslate"><span class="pre">Agent.position</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.radius"><code class="docutils literal notranslate"><span class="pre">Agent.radius</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.tags"><code class="docutils literal notranslate"><span class="pre">Agent.tags</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.twist"><code class="docutils literal notranslate"><span class="pre">Agent.twist</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.type"><code class="docutils literal notranslate"><span class="pre">Agent.type</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Agent.velocity"><code class="docutils literal notranslate"><span class="pre">Agent.velocity</span></code></a></li>
 </ul>
 </li>
diff --git a/docs/_build/html/reference/sim/python/experiment.html b/docs/_build/html/reference/sim/python/experiment.html
index 26051b8d..679b137c 100644
--- a/docs/_build/html/reference/sim/python/experiment.html
+++ b/docs/_build/html/reference/sim/python/experiment.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Experiment &#8212; navground 0.0.1 documentation</title>
+    <title>Experiment &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
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@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -394,8 +395,17 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.index_of_agent"><code class="docutils literal notranslate"><span class="pre">Trace.index_of_agent()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.collisions"><code class="docutils literal notranslate"><span class="pre">Trace.collisions</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.commands"><code class="docutils literal notranslate"><span class="pre">Trace.commands</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.number"><code class="docutils literal notranslate"><span class="pre">Trace.number</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.poses"><code class="docutils literal notranslate"><span class="pre">Trace.poses</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_cmd"><code class="docutils literal notranslate"><span class="pre">Trace.record_cmd</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_collisions"><code class="docutils literal notranslate"><span class="pre">Trace.record_collisions</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_pose"><code class="docutils literal notranslate"><span class="pre">Trace.record_pose</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_safety_violation"><code class="docutils literal notranslate"><span class="pre">Trace.record_safety_violation</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_target"><code class="docutils literal notranslate"><span class="pre">Trace.record_target</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_task_events"><code class="docutils literal notranslate"><span class="pre">Trace.record_task_events</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_twist"><code class="docutils literal notranslate"><span class="pre">Trace.record_twist</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.safety_violations"><code class="docutils literal notranslate"><span class="pre">Trace.safety_violations</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.steps"><code class="docutils literal notranslate"><span class="pre">Trace.steps</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.targets"><code class="docutils literal notranslate"><span class="pre">Trace.targets</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.twists"><code class="docutils literal notranslate"><span class="pre">Trace.twists</span></code></a></li>
 </ul>
@@ -410,6 +420,18 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.stop"><code class="docutils literal notranslate"><span class="pre">Experiment.stop()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.stop_run"><code class="docutils literal notranslate"><span class="pre">Experiment.stop_run()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.update"><code class="docutils literal notranslate"><span class="pre">Experiment.update()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.begin_time"><code class="docutils literal notranslate"><span class="pre">Experiment.begin_time</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.duration"><code class="docutils literal notranslate"><span class="pre">Experiment.duration</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.name"><code class="docutils literal notranslate"><span class="pre">Experiment.name</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.path"><code class="docutils literal notranslate"><span class="pre">Experiment.path</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.run_duration"><code class="docutils literal notranslate"><span class="pre">Experiment.run_duration</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.run_index"><code class="docutils literal notranslate"><span class="pre">Experiment.run_index</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.runs"><code class="docutils literal notranslate"><span class="pre">Experiment.runs</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.save_directory"><code class="docutils literal notranslate"><span class="pre">Experiment.save_directory</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.scenario"><code class="docutils literal notranslate"><span class="pre">Experiment.scenario</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.steps"><code class="docutils literal notranslate"><span class="pre">Experiment.steps</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.time_step"><code class="docutils literal notranslate"><span class="pre">Experiment.time_step</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.trace"><code class="docutils literal notranslate"><span class="pre">Experiment.trace</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -428,7 +450,9 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Trace">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Trace</span></span><a class="headerlink" href="#navground.sim.Trace" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>This class helps to collect the trajectories of the agents during an
+experiment.</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Trace.get_task_events">
 <span class="sig-name descname"><span class="pre">get_task_events</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="agent.html#navground.sim.Agent" title="navground.sim.Agent"><span class="pre">navground.sim.NativeAgent</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">memoryview</span></span></span><a class="headerlink" href="#navground.sim.Trace.get_task_events" title="Link to this definition">#</a></dt>
 <dd><p>The recorded events logged by the task of an agent 
@@ -494,6 +518,17 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 not been recorded in the trace.</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.number">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">number</span></span><a class="headerlink" href="#navground.sim.Trace.number" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The number of agents recorded</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Trace.poses">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">poses</span></span><a class="headerlink" href="#navground.sim.Trace.poses" title="Link to this definition">#</a></dt>
@@ -515,6 +550,83 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 not been recorded in the trace.</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_cmd">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_cmd</span></span><a class="headerlink" href="#navground.sim.Trace.record_cmd" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record the agents control commands</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_collisions">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_collisions</span></span><a class="headerlink" href="#navground.sim.Trace.record_collisions" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record collisions</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_pose">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_pose</span></span><a class="headerlink" href="#navground.sim.Trace.record_pose" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record the agents poses</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_safety_violation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_safety_violation</span></span><a class="headerlink" href="#navground.sim.Trace.record_safety_violation" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record safety violations</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_target">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_target</span></span><a class="headerlink" href="#navground.sim.Trace.record_target" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record the agents targets</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_task_events">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_task_events</span></span><a class="headerlink" href="#navground.sim.Trace.record_task_events" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record data from task events</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.record_twist">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">record_twist</span></span><a class="headerlink" href="#navground.sim.Trace.record_twist" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>bool</p>
+</dd>
+</dl>
+<p>Whether it should record the agents twists</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Trace.safety_violations">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">safety_violations</span></span><a class="headerlink" href="#navground.sim.Trace.safety_violations" title="Link to this definition">#</a></dt>
@@ -535,6 +647,17 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 not been recorded in the trace.</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Trace.steps">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">steps</span></span><a class="headerlink" href="#navground.sim.Trace.steps" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The number of steps recorded</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Trace.targets">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">targets</span></span><a class="headerlink" href="#navground.sim.Trace.targets" title="Link to this definition">#</a></dt>
@@ -582,50 +705,275 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Experiment">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Experiment</span></span><a class="headerlink" href="#navground.sim.Experiment" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>An experiment supervises the execution of a simulation.</p>
+<p>It initializes a simulation and run it while collecting the desired
+data with <a class="reference internal" href="#navground.sim.Trace" title="navground.sim.Trace"><code class="xref py py-class docutils literal notranslate"><span class="pre">Trace</span></code></a>.</p>
+<p>Use <a class="reference internal" href="#navground.sim.Experiment.run_once" title="navground.sim.Experiment.run_once"><code class="xref py py-meth docutils literal notranslate"><span class="pre">run_once()</span></code></a> to perform a single run.</p>
+<p>Use <a class="reference internal" href="#navground.sim.Experiment.run" title="navground.sim.Experiment.run"><code class="xref py py-meth docutils literal notranslate"><span class="pre">run()</span></code></a> to perform all runs, optionally saving the data to a HDF5
+dataset.</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">steps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1000</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.__init__" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>time_step</strong> – The simulation time step</p></li>
+<li><p><strong>steps</strong> – The number of simulation steps</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.add_callback">
 <span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.add_callback" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Adds a callback to be executed after each simulation step.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>value</strong> – The callback</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.run">
 <span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.run" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Perform all runs</p>
+<p>The number of runs is specified by <a class="reference internal" href="#navground.sim.Experiment.runs" title="navground.sim.Experiment.runs"><code class="xref py py-attr docutils literal notranslate"><span class="pre">runs</span></code></a>.</p>
+<p>If <a class="reference internal" href="#navground.sim.Experiment.save_directory" title="navground.sim.Experiment.save_directory"><code class="xref py py-attr docutils literal notranslate"><span class="pre">save_directory</span></code></a> not empty but points to an existing directory,
+it creates a HDF5 file <code class="docutils literal notranslate"><span class="pre">&lt;name&gt;_&lt;timestamp&gt;/data.h5</span></code> with attributes</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">begin_time</span></code> [<code class="docutils literal notranslate"><span class="pre">string</span></code>], ISO 8601 formatted string of the time
+when the experiment is run, see <a class="reference internal" href="#navground.sim.Experiment.begin_time" title="navground.sim.Experiment.begin_time"><code class="xref py py-attr docutils literal notranslate"><span class="pre">begin_time</span></code></a>;</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">duration_ns</span></code> [<code class="docutils literal notranslate"><span class="pre">unsigned</span></code>], total duration in nanoseconds, see
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">duration_ns</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">experiment</span></code> [<code class="docutils literal notranslate"><span class="pre">string</span></code>], YAML serialization of the experiment;</p></li>
+</ul>
+<p>Moreover, at the end of each run, it saves a group <code class="docutils literal notranslate"><span class="pre">run_&lt;index&gt;</span></code>
+with attributes:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">duration_ns</span></code> [<code class="docutils literal notranslate"><span class="pre">unsigned</span></code>], total duration in nanoseconds, see
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">run_duration_ns</span></code>;</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">seed</span></code> [<code class="docutils literal notranslate"><span class="pre">unsigned</span></code>];</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">steps</span></code> [<code class="docutils literal notranslate"><span class="pre">unsigned</span></code>], actual number of steps performed;</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">world</span></code> [<code class="docutils literal notranslate"><span class="pre">string</span></code>], YAML serialization of the world at the begin
+of the experiment.</p></li>
+</ul>
+<p>datasets:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">cmds</span></code> [<code class="docutils literal notranslate"><span class="pre">float</span></code>] (if <a class="reference internal" href="#navground.sim.Trace.record_cmd" title="navground.sim.Trace.record_cmd"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Trace.record_cmd</span></code></a> is set);</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">collisions</span></code> [<code class="docutils literal notranslate"><span class="pre">unsigned</span></code>] (if <a class="reference internal" href="#navground.sim.Trace.record_collisions" title="navground.sim.Trace.record_collisions"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Trace.record_collisions</span></code></a> is
+set);</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">poses</span></code> [<code class="docutils literal notranslate"><span class="pre">float</span></code>] (if <a class="reference internal" href="#navground.sim.Trace.record_pose" title="navground.sim.Trace.record_pose"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Trace.record_pose</span></code></a> is set);</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">targets</span></code> [<code class="docutils literal notranslate"><span class="pre">float</span></code>] (if <a class="reference internal" href="#navground.sim.Trace.record_target" title="navground.sim.Trace.record_target"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Trace.record_target</span></code></a> is set);</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">twists</span></code> [<code class="docutils literal notranslate"><span class="pre">float</span></code>] (if <a class="reference internal" href="#navground.sim.Trace.record_twist" title="navground.sim.Trace.record_twist"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Trace.record_twist</span></code></a> is set);</p></li>
+</ul>
+<p>and groups:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">task_events</span></code> (if <a class="reference internal" href="#navground.sim.Trace.record_task_events" title="navground.sim.Trace.record_task_events"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Trace.record_task_events</span></code></a> is set), where
+each agents logs, in dataset <code class="docutils literal notranslate"><span class="pre">agent_&lt;uid&gt;</span></code> [<code class="docutils literal notranslate"><span class="pre">float</span></code>], the events
+emitted by their task.</p></li>
+</ul>
+<p>A part from saving data to the HDF5 file, each run is performed
+similarly to <a class="reference internal" href="#navground.sim.Experiment.run_once" title="navground.sim.Experiment.run_once"><code class="xref py py-meth docutils literal notranslate"><span class="pre">run_once()</span></code></a>.</p>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.run_once">
 <span class="sig-name descname"><span class="pre">run_once</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.run_once" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Perform a single run</p>
+<ol class="arabic simple">
+<li><p>it initializes a world from its scenario by calling <a class="reference internal" href="scenarios/scenario.html#navground.sim.Scenario.init_world" title="navground.sim.Scenario.init_world"><code class="xref py py-meth docutils literal notranslate"><span class="pre">Scenario.init_world()</span></code></a></p></li>
+<li><p>it runs the simulation, step by step, collecting data in <a class="reference internal" href="#navground.sim.Experiment.trace" title="navground.sim.Experiment.trace"><code class="xref py py-attr docutils literal notranslate"><span class="pre">trace</span></code></a>.</p></li>
+</ol>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>seed</strong> – The index (and random seed) of the run</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.start">
 <span class="sig-name descname"><span class="pre">start</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.start" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Start recording</p>
+<p>This is only need to use an external run-loop, where you call <a class="reference internal" href="#navground.sim.Experiment.update" title="navground.sim.Experiment.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">update()</span></code></a> explicitly to update the trace without updating the simulation
+itself. Use <a class="reference internal" href="#navground.sim.Experiment.run" title="navground.sim.Experiment.run"><code class="xref py py-meth docutils literal notranslate"><span class="pre">run()</span></code></a> instead, to both run the simulation and record
+the trace.</p>
+<p>Call <a class="reference internal" href="#navground.sim.Experiment.start" title="navground.sim.Experiment.start"><code class="xref py py-meth docutils literal notranslate"><span class="pre">start()</span></code></a> only once per experiment.</p>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.start_run">
 <span class="sig-name descname"><span class="pre">start_run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">init_world</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.start_run" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Start recording</p>
+<p>This is only need to use an external run-loop, where you call <a class="reference internal" href="#navground.sim.Experiment.update" title="navground.sim.Experiment.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">update()</span></code></a> explicitly to update the trace without updating the simulation
+itself. Call once at the start of each run.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>seed</strong> – The random seed</p></li>
+<li><p><strong>init_world</strong> – Whether it should initialize a new world</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.stop">
 <span class="sig-name descname"><span class="pre">stop</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.stop" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Stop the recording</p>
+<p>See <a class="reference internal" href="#navground.sim.Experiment.start" title="navground.sim.Experiment.start"><code class="xref py py-meth docutils literal notranslate"><span class="pre">start()</span></code></a>. This is only need to use an external run-loop.</p>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.stop_run">
 <span class="sig-name descname"><span class="pre">stop_run</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.stop_run" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Stop the run recording</p>
+<p>See <a class="reference internal" href="#navground.sim.Experiment.start_run" title="navground.sim.Experiment.start_run"><code class="xref py py-meth docutils literal notranslate"><span class="pre">start_run()</span></code></a>. This is only need to use an external run-loop.</p>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Experiment.update">
 <span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Experiment.update" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Updates the trace.</p>
+<p>See <a class="reference internal" href="#navground.sim.Experiment.start" title="navground.sim.Experiment.start"><code class="xref py py-meth docutils literal notranslate"><span class="pre">start()</span></code></a>. Call from an external run-loop to update the trace
+without updating the simulation itself.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.begin_time">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">begin_time</span></span><a class="headerlink" href="#navground.sim.Experiment.begin_time" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>datetime.datetime</p>
+</dd>
+</dl>
+<p>The time when the experiment began.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.duration">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">duration</span></span><a class="headerlink" href="#navground.sim.Experiment.duration" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>datetime.timedelta</p>
+</dd>
+</dl>
+<p>The duration required to perform the whole experiment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.name">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">name</span></span><a class="headerlink" href="#navground.sim.Experiment.name" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>str</p>
+</dd>
+</dl>
+<p>The name of the experiment</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">path</span></span><a class="headerlink" href="#navground.sim.Experiment.path" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Optional[os.PathLike]</p>
+</dd>
+</dl>
+<p>The path where the experimental data has been saved.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.run_duration">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">run_duration</span></span><a class="headerlink" href="#navground.sim.Experiment.run_duration" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>datetime.timedelta</p>
+</dd>
+</dl>
+<p>The duration required to perform the last run (excludes
+initialization).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.run_index">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">run_index</span></span><a class="headerlink" href="#navground.sim.Experiment.run_index" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The index of the next run</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.runs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">runs</span></span><a class="headerlink" href="#navground.sim.Experiment.runs" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>Number of runs to perform</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.save_directory">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">save_directory</span></span><a class="headerlink" href="#navground.sim.Experiment.save_directory" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>os.PathLike</p>
+</dd>
+</dl>
+<p>Where to save the results</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.scenario">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">scenario</span></span><a class="headerlink" href="#navground.sim.Experiment.scenario" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="scenarios/scenario.html#navground.sim.Scenario" title="navground.sim.Scenario">navground::sim::Scenario</a></p>
+</dd>
+</dl>
+<p>The scenario</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.steps">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">steps</span></span><a class="headerlink" href="#navground.sim.Experiment.steps" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>Maximal number of steps per run</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.time_step">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">time_step</span></span><a class="headerlink" href="#navground.sim.Experiment.time_step" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>Simulation time step</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Experiment.trace">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">trace</span></span><a class="headerlink" href="#navground.sim.Experiment.trace" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="#navground.sim.Trace" title="navground.sim.Trace">navground.sim.Trace</a></p>
+</dd>
+</dl>
+<p>The current trace</p>
+</dd></dl>
 
 </dd></dl>
 
@@ -680,8 +1028,17 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.index_of_agent"><code class="docutils literal notranslate"><span class="pre">Trace.index_of_agent()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.collisions"><code class="docutils literal notranslate"><span class="pre">Trace.collisions</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.commands"><code class="docutils literal notranslate"><span class="pre">Trace.commands</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.number"><code class="docutils literal notranslate"><span class="pre">Trace.number</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.poses"><code class="docutils literal notranslate"><span class="pre">Trace.poses</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_cmd"><code class="docutils literal notranslate"><span class="pre">Trace.record_cmd</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_collisions"><code class="docutils literal notranslate"><span class="pre">Trace.record_collisions</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_pose"><code class="docutils literal notranslate"><span class="pre">Trace.record_pose</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_safety_violation"><code class="docutils literal notranslate"><span class="pre">Trace.record_safety_violation</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_target"><code class="docutils literal notranslate"><span class="pre">Trace.record_target</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_task_events"><code class="docutils literal notranslate"><span class="pre">Trace.record_task_events</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.record_twist"><code class="docutils literal notranslate"><span class="pre">Trace.record_twist</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.safety_violations"><code class="docutils literal notranslate"><span class="pre">Trace.safety_violations</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.steps"><code class="docutils literal notranslate"><span class="pre">Trace.steps</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.targets"><code class="docutils literal notranslate"><span class="pre">Trace.targets</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Trace.twists"><code class="docutils literal notranslate"><span class="pre">Trace.twists</span></code></a></li>
 </ul>
@@ -696,6 +1053,18 @@ <h1>Experiment<a class="headerlink" href="#experiment" title="Link to this headi
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.stop"><code class="docutils literal notranslate"><span class="pre">Experiment.stop()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.stop_run"><code class="docutils literal notranslate"><span class="pre">Experiment.stop_run()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.update"><code class="docutils literal notranslate"><span class="pre">Experiment.update()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.begin_time"><code class="docutils literal notranslate"><span class="pre">Experiment.begin_time</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.duration"><code class="docutils literal notranslate"><span class="pre">Experiment.duration</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.name"><code class="docutils literal notranslate"><span class="pre">Experiment.name</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.path"><code class="docutils literal notranslate"><span class="pre">Experiment.path</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.run_duration"><code class="docutils literal notranslate"><span class="pre">Experiment.run_duration</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.run_index"><code class="docutils literal notranslate"><span class="pre">Experiment.run_index</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.runs"><code class="docutils literal notranslate"><span class="pre">Experiment.runs</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.save_directory"><code class="docutils literal notranslate"><span class="pre">Experiment.save_directory</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.scenario"><code class="docutils literal notranslate"><span class="pre">Experiment.scenario</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.steps"><code class="docutils literal notranslate"><span class="pre">Experiment.steps</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.time_step"><code class="docutils literal notranslate"><span class="pre">Experiment.time_step</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Experiment.trace"><code class="docutils literal notranslate"><span class="pre">Experiment.trace</span></code></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/index.html b/docs/_build/html/reference/sim/python/index.html
index 68dc921b..a860bf48 100644
--- a/docs/_build/html/reference/sim/python/index.html
+++ b/docs/_build/html/reference/sim/python/index.html
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Python API &#8212; navground 0.0.1 documentation</title>
+    <title>Python API &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
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     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
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-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/index';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="World" href="world.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -403,14 +404,17 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 <li class="toctree-l2"><a class="reference internal" href="world.html#navground.sim.Entity"><code class="docutils literal notranslate"><span class="pre">Entity</span></code></a></li>
 <li class="toctree-l2"><a class="reference internal" href="world.html#navground.sim.Obstacle"><code class="docutils literal notranslate"><span class="pre">Obstacle</span></code></a><ul>
 <li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.Obstacle.__init__"><code class="docutils literal notranslate"><span class="pre">Obstacle.__init__()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.Obstacle.disc"><code class="docutils literal notranslate"><span class="pre">Obstacle.disc</span></code></a></li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="world.html#navground.sim.Wall"><code class="docutils literal notranslate"><span class="pre">Wall</span></code></a><ul>
 <li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.Wall.__init__"><code class="docutils literal notranslate"><span class="pre">Wall.__init__()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.Wall.line"><code class="docutils literal notranslate"><span class="pre">Wall.line</span></code></a></li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="world.html#navground.sim.World"><code class="docutils literal notranslate"><span class="pre">World</span></code></a><ul>
 <li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.__init__"><code class="docutils literal notranslate"><span class="pre">World.__init__()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.actuate"><code class="docutils literal notranslate"><span class="pre">World.actuate()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.add_agent"><code class="docutils literal notranslate"><span class="pre">World.add_agent()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.add_callback"><code class="docutils literal notranslate"><span class="pre">World.add_callback()</span></code></a></li>
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@@ -430,6 +434,14 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 <li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.space_agents_apart"><code class="docutils literal notranslate"><span class="pre">World.space_agents_apart()</span></code></a></li>
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+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.agents"><code class="docutils literal notranslate"><span class="pre">World.agents</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.collisions"><code class="docutils literal notranslate"><span class="pre">World.collisions</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.discs"><code class="docutils literal notranslate"><span class="pre">World.discs</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.line_obstacles"><code class="docutils literal notranslate"><span class="pre">World.line_obstacles</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.obstacles"><code class="docutils literal notranslate"><span class="pre">World.obstacles</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.step"><code class="docutils literal notranslate"><span class="pre">World.step</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.time"><code class="docutils literal notranslate"><span class="pre">World.time</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="world.html#navground.sim.World.walls"><code class="docutils literal notranslate"><span class="pre">World.walls</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -437,9 +449,19 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 <li class="toctree-l1"><a class="reference internal" href="agent.html">Agent</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="agent.html#navground.sim.Agent"><code class="docutils literal notranslate"><span class="pre">Agent</span></code></a><ul>
 <li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.__init__"><code class="docutils literal notranslate"><span class="pre">Agent.__init__()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.actuate"><code class="docutils literal notranslate"><span class="pre">Agent.actuate()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.angular_speed"><code class="docutils literal notranslate"><span class="pre">Agent.angular_speed</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.control_period"><code class="docutils literal notranslate"><span class="pre">Agent.control_period</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.id"><code class="docutils literal notranslate"><span class="pre">Agent.id</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.idle"><code class="docutils literal notranslate"><span class="pre">Agent.idle</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.last_cmd"><code class="docutils literal notranslate"><span class="pre">Agent.last_cmd</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.orientation"><code class="docutils literal notranslate"><span class="pre">Agent.orientation</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.pose"><code class="docutils literal notranslate"><span class="pre">Agent.pose</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.position"><code class="docutils literal notranslate"><span class="pre">Agent.position</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.radius"><code class="docutils literal notranslate"><span class="pre">Agent.radius</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.tags"><code class="docutils literal notranslate"><span class="pre">Agent.tags</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.twist"><code class="docutils literal notranslate"><span class="pre">Agent.twist</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.type"><code class="docutils literal notranslate"><span class="pre">Agent.type</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="agent.html#navground.sim.Agent.velocity"><code class="docutils literal notranslate"><span class="pre">Agent.velocity</span></code></a></li>
 </ul>
 </li>
@@ -502,8 +524,17 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.index_of_agent"><code class="docutils literal notranslate"><span class="pre">Trace.index_of_agent()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.collisions"><code class="docutils literal notranslate"><span class="pre">Trace.collisions</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.commands"><code class="docutils literal notranslate"><span class="pre">Trace.commands</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.number"><code class="docutils literal notranslate"><span class="pre">Trace.number</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.poses"><code class="docutils literal notranslate"><span class="pre">Trace.poses</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_cmd"><code class="docutils literal notranslate"><span class="pre">Trace.record_cmd</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_collisions"><code class="docutils literal notranslate"><span class="pre">Trace.record_collisions</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_pose"><code class="docutils literal notranslate"><span class="pre">Trace.record_pose</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_safety_violation"><code class="docutils literal notranslate"><span class="pre">Trace.record_safety_violation</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_target"><code class="docutils literal notranslate"><span class="pre">Trace.record_target</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_task_events"><code class="docutils literal notranslate"><span class="pre">Trace.record_task_events</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.record_twist"><code class="docutils literal notranslate"><span class="pre">Trace.record_twist</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.safety_violations"><code class="docutils literal notranslate"><span class="pre">Trace.safety_violations</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.steps"><code class="docutils literal notranslate"><span class="pre">Trace.steps</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.targets"><code class="docutils literal notranslate"><span class="pre">Trace.targets</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Trace.twists"><code class="docutils literal notranslate"><span class="pre">Trace.twists</span></code></a></li>
 </ul>
@@ -518,6 +549,18 @@ <h1>Python API<a class="headerlink" href="#python-api" title="Link to this headi
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.stop"><code class="docutils literal notranslate"><span class="pre">Experiment.stop()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.stop_run"><code class="docutils literal notranslate"><span class="pre">Experiment.stop_run()</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.update"><code class="docutils literal notranslate"><span class="pre">Experiment.update()</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.begin_time"><code class="docutils literal notranslate"><span class="pre">Experiment.begin_time</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.duration"><code class="docutils literal notranslate"><span class="pre">Experiment.duration</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.name"><code class="docutils literal notranslate"><span class="pre">Experiment.name</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.path"><code class="docutils literal notranslate"><span class="pre">Experiment.path</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.run_duration"><code class="docutils literal notranslate"><span class="pre">Experiment.run_duration</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.run_index"><code class="docutils literal notranslate"><span class="pre">Experiment.run_index</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.runs"><code class="docutils literal notranslate"><span class="pre">Experiment.runs</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.save_directory"><code class="docutils literal notranslate"><span class="pre">Experiment.save_directory</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.scenario"><code class="docutils literal notranslate"><span class="pre">Experiment.scenario</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.steps"><code class="docutils literal notranslate"><span class="pre">Experiment.steps</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.time_step"><code class="docutils literal notranslate"><span class="pre">Experiment.time_step</span></code></a></li>
+<li class="toctree-l3"><a class="reference internal" href="experiment.html#navground.sim.Experiment.trace"><code class="docutils literal notranslate"><span class="pre">Experiment.trace</span></code></a></li>
 </ul>
 </li>
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diff --git a/docs/_build/html/reference/sim/python/scenarios/antipodal.html b/docs/_build/html/reference/sim/python/scenarios/antipodal.html
index eaf10c1b..a277b91d 100644
--- a/docs/_build/html/reference/sim/python/scenarios/antipodal.html
+++ b/docs/_build/html/reference/sim/python/scenarios/antipodal.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Antipodal &#8212; navground 0.0.1 documentation</title>
+    <title>Antipodal &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/antipodal';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Corridor" href="corridor.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -391,6 +392,10 @@ <h2> Contents </h2>
                 <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.__init__"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.orientation_noise"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.orientation_noise</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.position_noise"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.position_noise</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.radius"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.radius</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.tolerance"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.tolerance</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -409,10 +414,57 @@ <h1>Antipodal<a class="headerlink" href="#antipodal" title="Link to this heading
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.scenarios.AntipodalScenario">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">AntipodalScenario</span></span><a class="headerlink" href="#navground.sim.scenarios.AntipodalScenario" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>A scenario that place the agents around a circle at regular intervals
+and task them to reach the opposite (“antipode”) side.</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.scenarios.AntipodalScenario.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">radius</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.10000000149011612</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">position_noise</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation_noise</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shuffle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.scenarios.AntipodalScenario.__init__" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Constructs a new instance.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.scenarios.AntipodalScenario.orientation_noise">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">orientation_noise</span></span><a class="headerlink" href="#navground.sim.scenarios.AntipodalScenario.orientation_noise" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The orientation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.scenarios.AntipodalScenario.position_noise">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">position_noise</span></span><a class="headerlink" href="#navground.sim.scenarios.AntipodalScenario.position_noise" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The position_noise.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.scenarios.AntipodalScenario.radius">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">radius</span></span><a class="headerlink" href="#navground.sim.scenarios.AntipodalScenario.radius" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The circle radius.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.scenarios.AntipodalScenario.tolerance">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">tolerance</span></span><a class="headerlink" href="#navground.sim.scenarios.AntipodalScenario.tolerance" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The goal tolerance.</p>
+</dd></dl>
 
 </dd></dl>
 
@@ -464,6 +516,10 @@ <h1>Antipodal<a class="headerlink" href="#antipodal" title="Link to this heading
     <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.__init__"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.orientation_noise"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.orientation_noise</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.position_noise"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.position_noise</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.radius"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.radius</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.scenarios.AntipodalScenario.tolerance"><code class="docutils literal notranslate"><span class="pre">AntipodalScenario.tolerance</span></code></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/scenarios/corridor.html b/docs/_build/html/reference/sim/python/scenarios/corridor.html
index d4c6bc66..6e4612a4 100644
--- a/docs/_build/html/reference/sim/python/scenarios/corridor.html
+++ b/docs/_build/html/reference/sim/python/scenarios/corridor.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Corridor &#8212; navground 0.0.1 documentation</title>
+    <title>Corridor &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/corridor';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Cross" href="cross.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/scenarios/cross.html b/docs/_build/html/reference/sim/python/scenarios/cross.html
index d7b14d29..180a7883 100644
--- a/docs/_build/html/reference/sim/python/scenarios/cross.html
+++ b/docs/_build/html/reference/sim/python/scenarios/cross.html
@@ -8,7 +8,7 @@
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-    <title>Cross &#8212; navground 0.0.1 documentation</title>
+    <title>Cross &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/cross';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Cross on a Torus" href="cross_torus.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/scenarios/cross_torus.html b/docs/_build/html/reference/sim/python/scenarios/cross_torus.html
index 28a3a056..30c1404d 100644
--- a/docs/_build/html/reference/sim/python/scenarios/cross_torus.html
+++ b/docs/_build/html/reference/sim/python/scenarios/cross_torus.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Cross on a Torus &#8212; navground 0.0.1 documentation</title>
+    <title>Cross on a Torus &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/cross_torus';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Experiment" href="../experiment.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/scenarios/index.html b/docs/_build/html/reference/sim/python/scenarios/index.html
index a2fe038c..6e1591d5 100644
--- a/docs/_build/html/reference/sim/python/scenarios/index.html
+++ b/docs/_build/html/reference/sim/python/scenarios/index.html
@@ -8,7 +8,7 @@
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     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Scenarios &#8212; navground 0.0.1 documentation</title>
+    <title>Scenarios &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/index';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Base class" href="scenario.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/scenarios/scenario.html b/docs/_build/html/reference/sim/python/scenarios/scenario.html
index 660d500b..044eec26 100644
--- a/docs/_build/html/reference/sim/python/scenarios/scenario.html
+++ b/docs/_build/html/reference/sim/python/scenarios/scenario.html
@@ -8,7 +8,7 @@
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-    <title>Base class &#8212; navground 0.0.1 documentation</title>
+    <title>Base class &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
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+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
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@@ -46,6 +46,7 @@
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     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/scenario';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Simple" href="simple.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -390,12 +391,15 @@ <h2> Contents </h2>
             <nav aria-label="Page">
                 <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario"><code class="docutils literal notranslate"><span class="pre">Scenario</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.Group"><code class="docutils literal notranslate"><span class="pre">Scenario.Group</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.add_init"><code class="docutils literal notranslate"><span class="pre">Scenario.add_init()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.get"><code class="docutils literal notranslate"><span class="pre">Scenario.get()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.init_world"><code class="docutils literal notranslate"><span class="pre">Scenario.init_world()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.make_type"><code class="docutils literal notranslate"><span class="pre">Scenario.make_type()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.set"><code class="docutils literal notranslate"><span class="pre">Scenario.set()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.obstacles"><code class="docutils literal notranslate"><span class="pre">Scenario.obstacles</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.properties"><code class="docutils literal notranslate"><span class="pre">Scenario.properties</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.walls"><code class="docutils literal notranslate"><span class="pre">Scenario.walls</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -414,10 +418,22 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Scenario">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Scenario</span></span><a class="headerlink" href="#navground.sim.Scenario" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><dl class="py class">
+<dt class="sig sig-object py" id="navground.sim.Scenario.Group">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Group</span></span><a class="headerlink" href="#navground.sim.Scenario.Group" title="Link to this definition">#</a></dt>
+<dd><p>A group of agents that can be generated and added to the world.</p>
+</dd></dl>
+
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Scenario.add_init">
 <span class="sig-name descname"><span class="pre">add_init</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">initializer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../world.html#navground.sim.World" title="navground.sim.World"><span class="pre">navground.sim.NativeWorld</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Scenario.add_init" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Adds a world initializer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>f</strong> – The initializer</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Scenario.get">
@@ -438,8 +454,17 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Scenario.init_world">
-<span class="sig-name descname"><span class="pre">init_world</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">world</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../world.html#navground.sim.World" title="navground.sim.World"><span class="pre">navground.sim.NativeWorld</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Scenario.init_world" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<span class="sig-name descname"><span class="pre">init_world</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">world</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../world.html#navground.sim.World" title="navground.sim.World"><span class="pre">navground.sim.NativeWorld</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">None</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Scenario.init_world" title="Link to this definition">#</a></dt>
+<dd><p>Initializes the world.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>world</strong> – The world</p></li>
+<li><p><strong>seed</strong> – The random seed</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Scenario.make_type">
@@ -470,6 +495,17 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 </dl>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Scenario.obstacles">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">obstacles</span></span><a class="headerlink" href="#navground.sim.Scenario.obstacles" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="../../../core/python/state.html#navground.core.Disc" title="navground.core.Disc">navground.core.Disc</a>]</p>
+</dd>
+</dl>
+<p>Obstacles</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Scenario.properties">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">properties</span></span><a class="headerlink" href="#navground.sim.Scenario.properties" title="Link to this definition">#</a></dt>
@@ -481,6 +517,17 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <p>All properties associated with an owner.</p>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Scenario.walls">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">walls</span></span><a class="headerlink" href="#navground.sim.Scenario.walls" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="../../../core/python/state.html#navground.core.LineSegment" title="navground.core.LineSegment">navground.core.LineSegment</a>]</p>
+</dd>
+</dl>
+<p>Walls</p>
+</dd></dl>
+
 </dd></dl>
 
 </section>
@@ -530,12 +577,15 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
   <nav class="bd-toc-nav page-toc">
     <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario"><code class="docutils literal notranslate"><span class="pre">Scenario</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.Group"><code class="docutils literal notranslate"><span class="pre">Scenario.Group</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.add_init"><code class="docutils literal notranslate"><span class="pre">Scenario.add_init()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.get"><code class="docutils literal notranslate"><span class="pre">Scenario.get()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.init_world"><code class="docutils literal notranslate"><span class="pre">Scenario.init_world()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.make_type"><code class="docutils literal notranslate"><span class="pre">Scenario.make_type()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.set"><code class="docutils literal notranslate"><span class="pre">Scenario.set()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.obstacles"><code class="docutils literal notranslate"><span class="pre">Scenario.obstacles</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.properties"><code class="docutils literal notranslate"><span class="pre">Scenario.properties</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Scenario.walls"><code class="docutils literal notranslate"><span class="pre">Scenario.walls</span></code></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/scenarios/simple.html b/docs/_build/html/reference/sim/python/scenarios/simple.html
index 7580dc2c..9776aa24 100644
--- a/docs/_build/html/reference/sim/python/scenarios/simple.html
+++ b/docs/_build/html/reference/sim/python/scenarios/simple.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Simple &#8212; navground 0.0.1 documentation</title>
+    <title>Simple &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/scenarios/simple';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Antipodal" href="antipodal.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -409,7 +410,10 @@ <h1>Simple<a class="headerlink" href="#simple" title="Link to this heading">#</a
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.scenarios.SimpleScenario">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">SimpleScenario</span></span><a class="headerlink" href="#navground.sim.scenarios.SimpleScenario" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>Simple scenario that serves as an example.</p>
+<p>The scenario add a single agent with a waypoints task, dummy behavior,
+and holonomic kinematics.</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.scenarios.SimpleScenario.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.scenarios.SimpleScenario.__init__" title="Link to this definition">#</a></dt>
 <dd></dd></dl>
diff --git a/docs/_build/html/reference/sim/python/state_estimations/geometric_bounded.html b/docs/_build/html/reference/sim/python/state_estimations/geometric_bounded.html
index 6ba9dfec..415df9a9 100644
--- a/docs/_build/html/reference/sim/python/state_estimations/geometric_bounded.html
+++ b/docs/_build/html/reference/sim/python/state_estimations/geometric_bounded.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Geometric bounded &#8212; navground 0.0.1 documentation</title>
+    <title>Geometric bounded &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/state_estimations/geometric_bounded';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Scenarios" href="../scenarios/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -391,6 +392,7 @@ <h2> Contents </h2>
                 <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.state_estimations.BoundedStateEstimation"><code class="docutils literal notranslate"><span class="pre">BoundedStateEstimation</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.state_estimations.BoundedStateEstimation.__init__"><code class="docutils literal notranslate"><span class="pre">BoundedStateEstimation.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.state_estimations.BoundedStateEstimation.range_of_view"><code class="docutils literal notranslate"><span class="pre">BoundedStateEstimation.range_of_view</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -409,10 +411,29 @@ <h1>Geometric bounded<a class="headerlink" href="#geometric-bounded" title="Link
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.state_estimations.BoundedStateEstimation">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">BoundedStateEstimation</span></span><a class="headerlink" href="#navground.sim.state_estimations.BoundedStateEstimation" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>Perfect state estimation within a range from the agent.</p>
+<p><em>Properties</em>: range_of_view (float)</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.state_estimations.BoundedStateEstimation.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">range_of_view</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.state_estimations.BoundedStateEstimation.__init__" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>range_of_view</strong> – The range of view</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.state_estimations.BoundedStateEstimation.range_of_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">range_of_view</span></span><a class="headerlink" href="#navground.sim.state_estimations.BoundedStateEstimation.range_of_view" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The range of view.</p>
+</dd></dl>
 
 </dd></dl>
 
@@ -464,6 +485,7 @@ <h1>Geometric bounded<a class="headerlink" href="#geometric-bounded" title="Link
     <ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.state_estimations.BoundedStateEstimation"><code class="docutils literal notranslate"><span class="pre">BoundedStateEstimation</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.state_estimations.BoundedStateEstimation.__init__"><code class="docutils literal notranslate"><span class="pre">BoundedStateEstimation.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.state_estimations.BoundedStateEstimation.range_of_view"><code class="docutils literal notranslate"><span class="pre">BoundedStateEstimation.range_of_view</span></code></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/state_estimations/index.html b/docs/_build/html/reference/sim/python/state_estimations/index.html
index c5328fd8..63096a0c 100644
--- a/docs/_build/html/reference/sim/python/state_estimations/index.html
+++ b/docs/_build/html/reference/sim/python/state_estimations/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>State estimations &#8212; navground 0.0.1 documentation</title>
+    <title>State estimations &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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@@ -38,7 +38,7 @@
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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@@ -46,6 +46,7 @@
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/state_estimations/index';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Base class" href="state_estimation.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/state_estimations/state_estimation.html b/docs/_build/html/reference/sim/python/state_estimations/state_estimation.html
index 17e03038..ebd4093a 100644
--- a/docs/_build/html/reference/sim/python/state_estimations/state_estimation.html
+++ b/docs/_build/html/reference/sim/python/state_estimations/state_estimation.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Base class &#8212; navground 0.0.1 documentation</title>
+    <title>Base class &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/state_estimations/state_estimation';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Geometric bounded" href="geometric_bounded.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -393,6 +394,7 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.get"><code class="docutils literal notranslate"><span class="pre">StateEstimation.get()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.make_type"><code class="docutils literal notranslate"><span class="pre">StateEstimation.make_type()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.set"><code class="docutils literal notranslate"><span class="pre">StateEstimation.set()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.update"><code class="docutils literal notranslate"><span class="pre">StateEstimation.update()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.properties"><code class="docutils literal notranslate"><span class="pre">StateEstimation.properties</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.type"><code class="docutils literal notranslate"><span class="pre">StateEstimation.type</span></code></a></li>
 </ul>
@@ -459,6 +461,21 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 </dl>
 </dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.sim.StateEstimation.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../agent.html#navground.sim.Agent" title="navground.sim.Agent"><span class="pre">navground.sim.NativeAgent</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">world</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../world.html#navground.sim.World" title="navground.sim.World"><span class="pre">navground.sim.NativeWorld</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../../../core/python/state.html#navground.core.EnvironmentState" title="navground.core.EnvironmentState"><span class="pre">navground.core.EnvironmentState</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.StateEstimation.update" title="Link to this definition">#</a></dt>
+<dd><p>Updates an environment state with respect to a given agent.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>agent</strong> – The agent owning the state estimation</p></li>
+<li><p><strong>world</strong> – The world that the agent is part of</p></li>
+<li><p><strong>state</strong> – The environment state to be updated</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.StateEstimation.properties">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">properties</span></span><a class="headerlink" href="#navground.sim.StateEstimation.properties" title="Link to this definition">#</a></dt>
@@ -533,6 +550,7 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.get"><code class="docutils literal notranslate"><span class="pre">StateEstimation.get()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.make_type"><code class="docutils literal notranslate"><span class="pre">StateEstimation.make_type()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.set"><code class="docutils literal notranslate"><span class="pre">StateEstimation.set()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.update"><code class="docutils literal notranslate"><span class="pre">StateEstimation.update()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.properties"><code class="docutils literal notranslate"><span class="pre">StateEstimation.properties</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.StateEstimation.type"><code class="docutils literal notranslate"><span class="pre">StateEstimation.type</span></code></a></li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/tasks/index.html b/docs/_build/html/reference/sim/python/tasks/index.html
index 05215aeb..df3c538a 100644
--- a/docs/_build/html/reference/sim/python/tasks/index.html
+++ b/docs/_build/html/reference/sim/python/tasks/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Tasks &#8212; navground 0.0.1 documentation</title>
+    <title>Tasks &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
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-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
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     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
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-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/tasks/index';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Base class" href="task.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/reference/sim/python/tasks/task.html b/docs/_build/html/reference/sim/python/tasks/task.html
index c978f6d6..211a7b26 100644
--- a/docs/_build/html/reference/sim/python/tasks/task.html
+++ b/docs/_build/html/reference/sim/python/tasks/task.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Base class &#8212; navground 0.0.1 documentation</title>
+    <title>Base class &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/tasks/task';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="Waypoints" href="waypoints.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -396,6 +397,7 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.get"><code class="docutils literal notranslate"><span class="pre">Task.get()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.make_type"><code class="docutils literal notranslate"><span class="pre">Task.make_type()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.set"><code class="docutils literal notranslate"><span class="pre">Task.set()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.log_size"><code class="docutils literal notranslate"><span class="pre">Task.log_size</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.properties"><code class="docutils literal notranslate"><span class="pre">Task.properties</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.type"><code class="docutils literal notranslate"><span class="pre">Task.type</span></code></a></li>
 </ul>
@@ -418,7 +420,7 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">TaskCallback</span></span><a class="headerlink" href="#navground.sim.TaskCallback" title="Link to this definition">#</a></dt>
 <dd><p>A type alias to <code class="docutils literal notranslate"><span class="pre">Callable[List[float],</span> <span class="pre">None]</span></code>.</p>
 <p>The type of callbacks called when the task publishes data related to an event.
-The task must publish data of the same size, see <code class="xref py py-attr docutils literal notranslate"><span class="pre">navground.sim.Task.log_size</span></code>.</p>
+The task must publish data of the same size, see <a class="reference internal" href="#navground.sim.Task.log_size" title="navground.sim.Task.log_size"><code class="xref py py-attr docutils literal notranslate"><span class="pre">navground.sim.Task.log_size</span></code></a>.</p>
 </dd></dl>
 
 <dl class="py class">
@@ -427,12 +429,24 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <dd><dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Task.add_callback">
 <span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.sim.TaskCallback" title="navground.sim.TaskCallback"><span class="pre">TaskCallback</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.Task.add_callback" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Adds a callback called to log task events.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>value</strong> – The desired callback</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Task.done">
 <span class="sig-name descname"><span class="pre">done</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#navground.sim.Task.done" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Returns whether the task is done.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>True if the task has finished.</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Task.get">
@@ -480,6 +494,17 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 </dl>
 </dd></dl>
 
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Task.log_size">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">log_size</span></span><a class="headerlink" href="#navground.sim.Task.log_size" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The size of the data passed to callbacks when events occur, see <a class="reference internal" href="#navground.sim.TaskCallback" title="navground.sim.TaskCallback"><code class="xref py py-class docutils literal notranslate"><span class="pre">TaskCallback</span></code></a> and <a class="reference internal" href="#navground.sim.Task.add_callback" title="navground.sim.Task.add_callback"><code class="xref py py-meth docutils literal notranslate"><span class="pre">add_callback()</span></code></a>.</p>
+</dd></dl>
+
 <dl class="py property">
 <dt class="sig sig-object py" id="navground.sim.Task.properties">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">properties</span></span><a class="headerlink" href="#navground.sim.Task.properties" title="Link to this definition">#</a></dt>
@@ -557,6 +582,7 @@ <h1>Base class<a class="headerlink" href="#base-class" title="Link to this headi
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.get"><code class="docutils literal notranslate"><span class="pre">Task.get()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.make_type"><code class="docutils literal notranslate"><span class="pre">Task.make_type()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.set"><code class="docutils literal notranslate"><span class="pre">Task.set()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.log_size"><code class="docutils literal notranslate"><span class="pre">Task.log_size</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.properties"><code class="docutils literal notranslate"><span class="pre">Task.properties</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Task.type"><code class="docutils literal notranslate"><span class="pre">Task.type</span></code></a></li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/tasks/waypoints.html b/docs/_build/html/reference/sim/python/tasks/waypoints.html
index 6580f5ad..2d59ebbd 100644
--- a/docs/_build/html/reference/sim/python/tasks/waypoints.html
+++ b/docs/_build/html/reference/sim/python/tasks/waypoints.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Waypoints &#8212; navground 0.0.1 documentation</title>
+    <title>Waypoints &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/tasks/waypoints';</script>
     <link rel="index" title="Index" href="../../../../genindex.html" />
     <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="State estimations" href="../state_estimations/index.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -392,6 +393,10 @@ <h2> Contents </h2>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.Waypoints"><code class="docutils literal notranslate"><span class="pre">Waypoints</span></code></a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask"><code class="docutils literal notranslate"><span class="pre">WaypointsTask</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.__init__"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.log_size"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.log_size</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.loop"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.loop</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.tolerance"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.tolerance</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.waypoints"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.waypoints</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -416,10 +421,75 @@ <h1>Waypoints<a class="headerlink" href="#waypoints" title="Link to this heading
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.tasks.WaypointsTask">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">WaypointsTask</span></span><a class="headerlink" href="#navground.sim.tasks.WaypointsTask" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>This class implement a task that makes the agent reach a sequence of
+waypoints, calling <a class="reference internal" href="../../../core/python/controller.html#navground.core.Controller.go_to_position" title="navground.core.Controller.go_to_position"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Controller.go_to_position</span></code></a>
+for the next waypoint after the current has been reached within a
+tolerance.</p>
+<p>The task notifies when a new waypoint is set by calling a callback.</p>
+<p><em>Properties</em>: waypoints (list of <a class="reference internal" href="../../../core/python/common.html#navground.Vector2" title="navground.Vector2"><code class="xref py py-class docutils literal notranslate"><span class="pre">Vector2</span></code></a>), loop
+(bool), tolerance (float)</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.tasks.WaypointsTask.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">waypoints</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../../core/python/common.html#navground.Vector2" title="navground.Vector2"><span class="pre">Vector2</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">[]</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">loop</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.tasks.WaypointsTask.__init__" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>waypoints</strong> – The waypoints</p></li>
+<li><p><strong>loop</strong> – Whether it should start from begin after reaching the last
+waypoint</p></li>
+<li><p><strong>tolerance</strong> – The goal tolerance applied to each waypoint.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.tasks.WaypointsTask.log_size">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">log_size</span></span><a class="headerlink" href="#navground.sim.tasks.WaypointsTask.log_size" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The size of the data passed to callbacks when events occur, see <a class="reference internal" href="task.html#navground.sim.TaskCallback" title="navground.sim.TaskCallback"><code class="xref py py-class docutils literal notranslate"><span class="pre">TaskCallback</span></code></a> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">add_callback()</span></code>.</p>
+<p>The data is composed of 4 numbers: <code class="docutils literal notranslate"><span class="pre">[time,</span> <span class="pre">target_x,</span> <span class="pre">target_y,</span>
+<span class="pre">target_theta]</span></code></p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.tasks.WaypointsTask.loop">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">loop</span></span><a class="headerlink" href="#navground.sim.tasks.WaypointsTask.loop" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>Whether it should start from begin after reaching the last
+waypoint.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.tasks.WaypointsTask.tolerance">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">tolerance</span></span><a class="headerlink" href="#navground.sim.tasks.WaypointsTask.tolerance" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The goal tolerance applied to each waypoint.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.tasks.WaypointsTask.waypoints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">waypoints</span></span><a class="headerlink" href="#navground.sim.tasks.WaypointsTask.waypoints" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="../../../core/python/common.html#navground.Vector2" title="navground.Vector2">Vector2</a>]</p>
+</dd>
+</dl>
+<p>The waypoints.</p>
+</dd></dl>
 
 </dd></dl>
 
@@ -472,6 +542,10 @@ <h1>Waypoints<a class="headerlink" href="#waypoints" title="Link to this heading
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.Waypoints"><code class="docutils literal notranslate"><span class="pre">Waypoints</span></code></a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask"><code class="docutils literal notranslate"><span class="pre">WaypointsTask</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.__init__"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.log_size"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.log_size</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.loop"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.loop</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.tolerance"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.tolerance</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.tasks.WaypointsTask.waypoints"><code class="docutils literal notranslate"><span class="pre">WaypointsTask.waypoints</span></code></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/world.html b/docs/_build/html/reference/sim/python/world.html
index 212f84d6..efa12bcd 100644
--- a/docs/_build/html/reference/sim/python/world.html
+++ b/docs/_build/html/reference/sim/python/world.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>World &#8212; navground 0.0.1 documentation</title>
+    <title>World &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../../../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../../../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../../../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../../../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../../../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../../../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../../../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../../../_static/doctools.js?v=888ff710"></script>
     <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../../../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../../../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../../../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/python/world';</script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="Agent" href="agent.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -396,14 +397,17 @@ <h2> Contents </h2>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Entity"><code class="docutils literal notranslate"><span class="pre">Entity</span></code></a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Obstacle"><code class="docutils literal notranslate"><span class="pre">Obstacle</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Obstacle.__init__"><code class="docutils literal notranslate"><span class="pre">Obstacle.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Obstacle.disc"><code class="docutils literal notranslate"><span class="pre">Obstacle.disc</span></code></a></li>
 </ul>
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Wall"><code class="docutils literal notranslate"><span class="pre">Wall</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Wall.__init__"><code class="docutils literal notranslate"><span class="pre">Wall.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Wall.line"><code class="docutils literal notranslate"><span class="pre">Wall.line</span></code></a></li>
 </ul>
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World"><code class="docutils literal notranslate"><span class="pre">World</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.__init__"><code class="docutils literal notranslate"><span class="pre">World.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.actuate"><code class="docutils literal notranslate"><span class="pre">World.actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.add_agent"><code class="docutils literal notranslate"><span class="pre">World.add_agent()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.add_callback"><code class="docutils literal notranslate"><span class="pre">World.add_callback()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.add_obstacle"><code class="docutils literal notranslate"><span class="pre">World.add_obstacle()</span></code></a></li>
@@ -423,6 +427,14 @@ <h2> Contents </h2>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.space_agents_apart"><code class="docutils literal notranslate"><span class="pre">World.space_agents_apart()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.update"><code class="docutils literal notranslate"><span class="pre">World.update()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.update_dry"><code class="docutils literal notranslate"><span class="pre">World.update_dry()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.agents"><code class="docutils literal notranslate"><span class="pre">World.agents</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.collisions"><code class="docutils literal notranslate"><span class="pre">World.collisions</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.discs"><code class="docutils literal notranslate"><span class="pre">World.discs</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.line_obstacles"><code class="docutils literal notranslate"><span class="pre">World.line_obstacles</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.obstacles"><code class="docutils literal notranslate"><span class="pre">World.obstacles</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.step"><code class="docutils literal notranslate"><span class="pre">World.step</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.time"><code class="docutils literal notranslate"><span class="pre">World.time</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.walls"><code class="docutils literal notranslate"><span class="pre">World.walls</span></code></a></li>
 </ul>
 </li>
 </ul>
@@ -463,19 +475,52 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Entity">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Entity</span></span><a class="headerlink" href="#navground.sim.Entity" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Super-class that adds a unique ID to world entities.</p>
+<p>This unique ID should not be fed to navigation behaviors, but only
+used internally by the simulation, for instance, to identify entities
+in a UI.</p>
+</dd></dl>
 
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Obstacle">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Obstacle</span></span><a class="headerlink" href="#navground.sim.Obstacle" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>A static obstacle with circular shape</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Obstacle.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#navground.sim.Obstacle.__init__" title="Link to this definition">#</a></dt>
 <dd><p>Overloaded function.</p>
 <ol class="arabic simple">
 <li><p>__init__(position: Vector2, radius: float) -&gt; None</p></li>
+</ol>
+<p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>position</strong> – The position of the circle</p></li>
+<li><p><strong>radius</strong> – The radius of the circle</p></li>
+</ul>
+</dd>
+</dl>
+<ol class="arabic simple" start="2">
 <li><p>__init__(disc: navground.core.Disc) -&gt; None</p></li>
 </ol>
+<p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>disc</strong> – A disc</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Obstacle.disc">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">disc</span></span><a class="headerlink" href="#navground.sim.Obstacle.disc" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="../../core/python/state.html#navground.core.Disc" title="navground.core.Disc">navground.core.Disc</a></p>
+</dd>
+</dl>
+<p>The disc.</p>
 </dd></dl>
 
 </dd></dl>
@@ -483,14 +528,44 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <dl class="py class">
 <dt class="sig sig-object py" id="navground.sim.Wall">
 <em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Wall</span></span><a class="headerlink" href="#navground.sim.Wall" title="Link to this definition">#</a></dt>
-<dd><dl class="py method">
+<dd><p>A static wall.</p>
+<p>Currently, only line segment are valid shapes of walls.</p>
+<dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.Wall.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#navground.sim.Wall.__init__" title="Link to this definition">#</a></dt>
 <dd><p>Overloaded function.</p>
 <ol class="arabic simple">
 <li><p>__init__(p1: Vector2, p2: Vector2) -&gt; None</p></li>
+</ol>
+<p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>p1</strong> – The line segment start vertex</p></li>
+<li><p><strong>p2</strong> – The line segment end vertex</p></li>
+</ul>
+</dd>
+</dl>
+<ol class="arabic simple" start="2">
 <li><p>__init__(line: navground.core.LineSegment) -&gt; None</p></li>
 </ol>
+<p>Constructs a new instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>ls</strong> – A line segment</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.Wall.line">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">line</span></span><a class="headerlink" href="#navground.sim.Wall.line" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference internal" href="../../core/python/state.html#navground.core.LineSegment" title="navground.core.LineSegment">navground.core.LineSegment</a></p>
+</dd>
+</dl>
+<p>The line segment</p>
 </dd></dl>
 
 </dd></dl>
@@ -501,17 +576,41 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <dd><dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.__init__">
 <span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.__init__" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Constructs a new instance.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="navground.sim.World.actuate">
+<span class="sig-name descname"><span class="pre">actuate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.actuate" title="Link to this definition">#</a></dt>
+<dd><p>Actuate then controllers and perform collisions resolutions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>time_step</strong> – The duration of each time step</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.add_agent">
 <span class="sig-name descname"><span class="pre">add_agent</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">object</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.add_agent" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Adds an agent to the world.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>agent</strong> – The agent</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.add_callback">
 <span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">None</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.add_callback" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Adds a callback to be executed after each simulation step.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>value</strong> – The callback</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.add_obstacle">
@@ -519,8 +618,22 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <dd><p>Overloaded function.</p>
 <ol class="arabic simple">
 <li><p>add_obstacle(disc: navground.core.Disc) -&gt; None</p></li>
+</ol>
+<p>Adds a disc the world as a static obstacle</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>disc</strong> – The disc</p>
+</dd>
+</dl>
+<ol class="arabic simple" start="2">
 <li><p>add_obstacle(obstacle: navground.sim.Obstacle) -&gt; None</p></li>
 </ol>
+<p>Adds a static obstacle the world</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>obstacle</strong> – The obstacle</p>
+</dd>
+</dl>
 </dd></dl>
 
 <dl class="py method">
@@ -529,49 +642,141 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <dd><p>Overloaded function.</p>
 <ol class="arabic simple">
 <li><p>add_wall(line: navground.core.LineSegment) -&gt; None</p></li>
+</ol>
+<p>Adds a line to the world as a wall</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>line</strong> – The line</p>
+</dd>
+</dl>
+<ol class="arabic simple" start="2">
 <li><p>add_wall(wall: navground.sim.Wall) -&gt; None</p></li>
 </ol>
+<p>Adds a wall to the world</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>wall</strong> – The wall</p>
+</dd>
+</dl>
 </dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.agents_are_idle">
 <span class="sig-name descname"><span class="pre">agents_are_idle</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#navground.sim.World.agents_are_idle" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Check if all agents are idle (i.e., their tasks are done and their
+controller are idle).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>True if all agents are idle</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.compute_safety_violation">
 <span class="sig-name descname"><span class="pre">compute_safety_violation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="agent.html#navground.sim.Agent" title="navground.sim.Agent"><span class="pre">navground.sim.NativeAgent</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#navground.sim.World.compute_safety_violation" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Calculates the safety violation, i.e. the maximal penetration of a
+neighbor or obstacle in the safety margin of the agent.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>agent</strong> – The agent</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The safety violation or 0 if no violation.</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.get_agents_in_region">
 <span class="sig-name descname"><span class="pre">get_agents_in_region</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">bounding_box</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.sim.BoundingBox" title="navground.sim.BoundingBox"><span class="pre">navground.sim.BoundingBox</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="agent.html#navground.sim.Agent" title="navground.sim.Agent"><span class="pre">navground.sim.NativeAgent</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#navground.sim.World.get_agents_in_region" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Gets all agents in a bounding box.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>bb</strong> – The bounding box specified in world-fixed coordinates</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>All agents that lie in a bounding box.</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.get_entity">
 <span class="sig-name descname"><span class="pre">get_entity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">uid</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#navground.sim.Entity" title="navground.sim.Entity"><span class="pre">navground.sim.Entity</span></a></span></span><a class="headerlink" href="#navground.sim.World.get_entity" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Find an entity by identifier</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>uid</strong> – The entity uid</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The entity or nullptr if not found.</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.get_line_obstacles_in_region">
 <span class="sig-name descname"><span class="pre">get_line_obstacles_in_region</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">bounding_box</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.sim.BoundingBox" title="navground.sim.BoundingBox"><span class="pre">navground.sim.BoundingBox</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../core/python/state.html#navground.core.LineSegment" title="navground.core.LineSegment"><span class="pre">navground.core.LineSegment</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#navground.sim.World.get_line_obstacles_in_region" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Gets all walls in a bounding box.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>bb</strong> – The bounding box specified in world-fixed</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>All walls that lie in a bounding box</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.get_neighbors">
 <span class="sig-name descname"><span class="pre">get_neighbors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="agent.html#navground.sim.Agent" title="navground.sim.Agent"><span class="pre">navground.sim.NativeAgent</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../core/python/state.html#navground.core.Neighbor" title="navground.core.Neighbor"><span class="pre">navground.core.Neighbor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#navground.sim.World.get_neighbors" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Gets all neighbor of an agent (ghosts included)</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>agent</strong> – The agent</p></li>
+<li><p><strong>distance</strong> – The radius of the neighborhood</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>All neighbor within a circle of radius <code class="docutils literal notranslate"><span class="pre">radius</span></code> centered around
+the agent.</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.get_static_obstacles_in_region">
 <span class="sig-name descname"><span class="pre">get_static_obstacles_in_region</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">bounding_box</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.sim.BoundingBox" title="navground.sim.BoundingBox"><span class="pre">navground.sim.BoundingBox</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="../../core/python/state.html#navground.core.Disc" title="navground.core.Disc"><span class="pre">navground.core.Disc</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#navground.sim.World.get_static_obstacles_in_region" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Gets all agents in a bounding box.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>bb</strong> – The bounding box specified in world-fixed</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>All obstacles that lie in a bounding box</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.in_collision">
 <span class="sig-name descname"><span class="pre">in_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">e1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.sim.Entity" title="navground.sim.Entity"><span class="pre">navground.sim.Entity</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">e2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#navground.sim.Entity" title="navground.sim.Entity"><span class="pre">navground.sim.Entity</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#navground.sim.World.in_collision" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Check if two entities are currently in collision</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>e1</strong> – The first entity</p></li>
+<li><p><strong>e2</strong> – The second entity</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if they are in collision.</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.reset_callbacks">
@@ -581,32 +786,171 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.run">
 <span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">steps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.run" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Updates the world for one or more time steps</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>steps</strong> – The number of steps</p></li>
+<li><p><strong>time_step</strong> – The duration of each time step</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.run_until">
 <span class="sig-name descname"><span class="pre">run_until</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">condition</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">bool</span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.run_until" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Updates the world until a condition is satisfied</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>condition</strong> – The condition</p></li>
+<li><p><strong>time_step</strong> – The duration of each time step</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.set_seed">
 <em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">set_seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.set_seed" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Sets the random seed</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>seed</strong> – The random seed</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.space_agents_apart">
 <span class="sig-name descname"><span class="pre">space_agents_apart</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">minimal_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">with_safety_margin</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_iterations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">10</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.space_agents_apart" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Move agents so that they do not overlap anymore with themselves or
+with any obstacle</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>minimal_distance</strong> – The minimal distance</p></li>
+<li><p><strong>with_safety_margin</strong> – Whether the safety margin should be added to the minimal distance</p></li>
+<li><p><strong>max_iterations</strong> – The maximal number of iterations to perform.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.update">
 <span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.update" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<dd><p>Updates world for a single time step.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>time_step</strong> – The time step</p>
+</dd>
+</dl>
+</dd></dl>
 
 <dl class="py method">
 <dt class="sig sig-object py" id="navground.sim.World.update_dry">
-<span class="sig-name descname"><span class="pre">update_dry</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.update_dry" title="Link to this definition">#</a></dt>
-<dd></dd></dl>
+<span class="sig-name descname"><span class="pre">update_dry</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">advance_time</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#navground.sim.World.update_dry" title="Link to this definition">#</a></dt>
+<dd><p>Updates world for a single time step without actuation and collisions
+resolution.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>time_step</strong> – The time step</p></li>
+<li><p><strong>advance_time</strong> – Whenever to advance time too.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.agents">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">agents</span></span><a class="headerlink" href="#navground.sim.World.agents" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="agent.html#navground.sim.Agent" title="navground.sim.Agent">navground.sim.NativeAgent</a>]</p>
+</dd>
+</dl>
+<p>All agents in this world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.collisions">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">collisions</span></span><a class="headerlink" href="#navground.sim.World.collisions" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Set[Tuple[<a class="reference internal" href="#navground.sim.Entity" title="navground.sim.Entity">navground.sim.Entity</a>, <a class="reference internal" href="#navground.sim.Entity" title="navground.sim.Entity">navground.sim.Entity</a>]]</p>
+</dd>
+</dl>
+<p>The colliding pairs computed during the last simulation step.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.discs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">discs</span></span><a class="headerlink" href="#navground.sim.World.discs" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="../../core/python/state.html#navground.core.Disc" title="navground.core.Disc">navground.core.Disc</a>]</p>
+</dd>
+</dl>
+<p>All disc shaped static obstacles in this world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.line_obstacles">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">line_obstacles</span></span><a class="headerlink" href="#navground.sim.World.line_obstacles" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="../../core/python/state.html#navground.core.LineSegment" title="navground.core.LineSegment">navground.core.LineSegment</a>]</p>
+</dd>
+</dl>
+<p>All line obstacles in this world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.obstacles">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">obstacles</span></span><a class="headerlink" href="#navground.sim.World.obstacles" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="#navground.sim.Obstacle" title="navground.sim.Obstacle">navground.sim.Obstacle</a>]</p>
+</dd>
+</dl>
+<p>All obstacles in this world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.step">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">step</span></span><a class="headerlink" href="#navground.sim.World.step" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>int</p>
+</dd>
+</dl>
+<p>The simulation step.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.time">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">time</span></span><a class="headerlink" href="#navground.sim.World.time" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>float</p>
+</dd>
+</dl>
+<p>The simulation time.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="navground.sim.World.walls">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">walls</span></span><a class="headerlink" href="#navground.sim.World.walls" title="Link to this definition">#</a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>List[<a class="reference internal" href="#navground.sim.Wall" title="navground.sim.Wall">navground.sim.Wall</a>]</p>
+</dd>
+</dl>
+<p>All walls in this world.</p>
+</dd></dl>
 
 </dd></dl>
 
@@ -663,14 +1007,17 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Entity"><code class="docutils literal notranslate"><span class="pre">Entity</span></code></a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Obstacle"><code class="docutils literal notranslate"><span class="pre">Obstacle</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Obstacle.__init__"><code class="docutils literal notranslate"><span class="pre">Obstacle.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Obstacle.disc"><code class="docutils literal notranslate"><span class="pre">Obstacle.disc</span></code></a></li>
 </ul>
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Wall"><code class="docutils literal notranslate"><span class="pre">Wall</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Wall.__init__"><code class="docutils literal notranslate"><span class="pre">Wall.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.Wall.line"><code class="docutils literal notranslate"><span class="pre">Wall.line</span></code></a></li>
 </ul>
 </li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World"><code class="docutils literal notranslate"><span class="pre">World</span></code></a><ul class="nav section-nav flex-column">
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.__init__"><code class="docutils literal notranslate"><span class="pre">World.__init__()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.actuate"><code class="docutils literal notranslate"><span class="pre">World.actuate()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.add_agent"><code class="docutils literal notranslate"><span class="pre">World.add_agent()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.add_callback"><code class="docutils literal notranslate"><span class="pre">World.add_callback()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.add_obstacle"><code class="docutils literal notranslate"><span class="pre">World.add_obstacle()</span></code></a></li>
@@ -690,6 +1037,14 @@ <h1>World<a class="headerlink" href="#world" title="Link to this heading">#</a><
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.space_agents_apart"><code class="docutils literal notranslate"><span class="pre">World.space_agents_apart()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.update"><code class="docutils literal notranslate"><span class="pre">World.update()</span></code></a></li>
 <li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.update_dry"><code class="docutils literal notranslate"><span class="pre">World.update_dry()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.agents"><code class="docutils literal notranslate"><span class="pre">World.agents</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.collisions"><code class="docutils literal notranslate"><span class="pre">World.collisions</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.discs"><code class="docutils literal notranslate"><span class="pre">World.discs</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.line_obstacles"><code class="docutils literal notranslate"><span class="pre">World.line_obstacles</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.obstacles"><code class="docutils literal notranslate"><span class="pre">World.obstacles</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.step"><code class="docutils literal notranslate"><span class="pre">World.step</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.time"><code class="docutils literal notranslate"><span class="pre">World.time</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#navground.sim.World.walls"><code class="docutils literal notranslate"><span class="pre">World.walls</span></code></a></li>
 </ul>
 </li>
 </ul>
diff --git a/docs/_build/html/reference/sim/python/yaml.html b/docs/_build/html/reference/sim/python/yaml.html
index fd67724f..76f38aaa 100644
--- a/docs/_build/html/reference/sim/python/yaml.html
+++ b/docs/_build/html/reference/sim/python/yaml.html
@@ -8,7 +8,7 @@
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index 79ed71d4..1bbb69a4 100644
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+    <script>DOCUMENTATION_OPTIONS.pagename = 'reference/sim/yaml/task';</script>
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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index fa5f24dc..1fd87d98 100644
--- a/docs/_build/html/reference/sim/yaml/world.html
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-    <title>World &#8212; navground 0.0.1 documentation</title>
+    <title>World &#8212; navground 0.0.2 documentation</title>
   
   
   
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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diff --git a/docs/_build/html/scenarios/antipodal.html b/docs/_build/html/scenarios/antipodal.html
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-    <title>Antipodal &#8212; navground 0.0.1 documentation</title>
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@@ -130,7 +131,7 @@
   
   
   
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-    <title>Corridor &#8212; navground 0.0.1 documentation</title>
+    <title>Corridor &#8212; navground 0.0.2 documentation</title>
   
   
   
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@@ -130,7 +131,7 @@
   
   
   
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diff --git a/docs/_build/html/scenarios/cross.html b/docs/_build/html/scenarios/cross.html
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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diff --git a/docs/_build/html/scenarios/index.html b/docs/_build/html/scenarios/index.html
index 66e59249..31a4f922 100644
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-    <title>Benchmark scenarios &#8212; navground 0.0.1 documentation</title>
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@@ -130,7 +131,7 @@
   
   
   
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+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
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index f1008394..dd78f7cc 100644
--- a/docs/_build/html/search.html
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   <head>
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-    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><title>Search - navground 0.0.1 documentation</title>
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-    <p class="title logo__title">navground 0.0.1 documentation</p>
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index 051ed0c6..441c30dc 100644
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-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -49,6 +49,7 @@
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
     <script>window.MathJax = {"tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]], "processEscapes": true}, "options": {"ignoreHtmlClass": "tex2jax_ignore|mathjax_ignore|document", "processHtmlClass": "tex2jax_process|mathjax_process|math|output_area"}}</script>
     <script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'tutorials/collisions';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
@@ -131,7 +132,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/tutorials/designing_an_experiment.html b/docs/_build/html/tutorials/designing_an_experiment.html
index 3df5e7b9..5d1bcfc3 100644
--- a/docs/_build/html/tutorials/designing_an_experiment.html
+++ b/docs/_build/html/tutorials/designing_an_experiment.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Designing an experiment &#8212; navground 0.0.1 documentation</title>
+    <title>Designing an experiment &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'tutorials/designing_an_experiment';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Running and analysing experiments" href="running_an_experiment.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/tutorials/index.html b/docs/_build/html/tutorials/index.html
index d9ef2133..31d77537 100644
--- a/docs/_build/html/tutorials/index.html
+++ b/docs/_build/html/tutorials/index.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Tutorials &#8212; navground 0.0.1 documentation</title>
+    <title>Tutorials &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -38,7 +38,7 @@
 <link rel="preload" as="script" href="../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -46,6 +46,7 @@
     <script src="../_static/scripts/sphinx-book-theme.js?digest=5a5c038af52cf7bc1a1ec88eea08e6366ee68824"></script>
     <script src="../_static/design-tabs.js?v=36754332"></script>
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'tutorials/index';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Designing an experiment" href="designing_an_experiment.html" />
@@ -130,7 +131,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/tutorials/running_an_experiment.html b/docs/_build/html/tutorials/running_an_experiment.html
index db1df04f..7bf82835 100644
--- a/docs/_build/html/tutorials/running_an_experiment.html
+++ b/docs/_build/html/tutorials/running_an_experiment.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>Running and analysing experiments &#8212; navground 0.0.1 documentation</title>
+    <title>Running and analysing experiments &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,18 +28,18 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
-    <link rel="stylesheet" type="text/css" href="../_static/nbsphinx-code-cells.css?v=2aa19091" />
+    <link rel="stylesheet" type="text/css" href="../_static/nbsphinx-code-cells.css" />
   
   <!-- Pre-loaded scripts that we'll load fully later -->
   <link rel="preload" as="script" href="../_static/scripts/bootstrap.js?digest=ac02cc09edc035673794" />
 <link rel="preload" as="script" href="../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -49,6 +49,7 @@
     <script crossorigin="anonymous" integrity="sha256-Ae2Vz/4ePdIu6ZyI/5ZGsYnb+m0JlOmKPjt6XZ9JJkA=" src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
     <script>window.MathJax = {"tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]], "processEscapes": true}, "options": {"ignoreHtmlClass": "tex2jax_ignore|mathjax_ignore|document", "processHtmlClass": "tex2jax_process|mathjax_process|math|output_area"}}</script>
     <script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'tutorials/running_an_experiment';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Guides" href="../guides/index.html" />
@@ -133,7 +134,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
diff --git a/docs/_build/html/tutorials/tour.html b/docs/_build/html/tutorials/tour.html
index ff78648e..bce8c47d 100644
--- a/docs/_build/html/tutorials/tour.html
+++ b/docs/_build/html/tutorials/tour.html
@@ -8,7 +8,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>A tour of navground &#8212; navground 0.0.1 documentation</title>
+    <title>A tour of navground &#8212; navground 0.0.2 documentation</title>
   
   
   
@@ -28,7 +28,7 @@
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
 <link rel="preload" as="font" type="font/woff2" crossorigin href="../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
 
-    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=362ab14a" />
+    <link rel="stylesheet" type="text/css" href="../_static/pygments.css?v=a746c00c" />
     <link rel="stylesheet" href="../_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
     <link rel="stylesheet" type="text/css" href="../_static/tabs.css?v=a5c4661c" />
     <link rel="stylesheet" type="text/css" href="../_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css?v=0a3b3ea7" />
@@ -39,7 +39,7 @@
 <link rel="preload" as="script" href="../_static/scripts/pydata-sphinx-theme.js?digest=ac02cc09edc035673794" />
   <script src="../_static/vendor/fontawesome/6.1.2/js/all.min.js?digest=ac02cc09edc035673794"></script>
 
-    <script src="../_static/documentation_options.js?v=3611b776"></script>
+    <script src="../_static/documentation_options.js?v=f52f92e8"></script>
     <script src="../_static/doctools.js?v=888ff710"></script>
     <script src="../_static/sphinx_highlight.js?v=dc90522c"></script>
     <script src="../_static/jquery.js?v=5d32c60e"></script>
@@ -49,6 +49,7 @@
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     <script>window.MathJax = {"tex": {"inlineMath": [["$", "$"], ["\\(", "\\)"]], "processEscapes": true}, "options": {"ignoreHtmlClass": "tex2jax_ignore|mathjax_ignore|document", "processHtmlClass": "tex2jax_process|mathjax_process|math|output_area"}}</script>
     <script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'tutorials/tour';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Packages" href="../packages/index.html" />
@@ -133,7 +134,7 @@
   
   
   
-    <p class="title logo__title">navground 0.0.1 documentation</p>
+    <p class="title logo__title">navground 0.0.2 documentation</p>
   
 </a></div>
         <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
@@ -1139,12 +1140,14 @@ <h2>Experiment<a class="headerlink" href="#Experiment" title="Link to this headi
 <div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[49]:
 </pre></div>
 </div>
-<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">MyScenario</span><span class="p">(</span><span class="n">sim</span><span class="o">.</span><span class="n">Scenario</span><span class="p">):</span>
+<div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Optional</span>
+
+<span class="k">class</span> <span class="nc">MyScenario</span><span class="p">(</span><span class="n">sim</span><span class="o">.</span><span class="n">Scenario</span><span class="p">):</span>
 
     <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
         <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
 
-    <span class="k">def</span> <span class="nf">init_world</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">world</span><span class="p">:</span> <span class="n">sim</span><span class="o">.</span><span class="n">World</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="k">def</span> <span class="nf">init_world</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">world</span><span class="p">:</span> <span class="n">sim</span><span class="o">.</span><span class="n">World</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="n">Optional</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
         <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">init_world</span><span class="p">(</span><span class="n">world</span><span class="p">,</span> <span class="n">seed</span><span class="p">)</span>
         <span class="n">agent</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">Agent</span><span class="p">()</span>
         <span class="n">agent</span><span class="o">.</span><span class="n">behavior</span> <span class="o">=</span> <span class="n">core</span><span class="o">.</span><span class="n">Behavior</span><span class="o">.</span><span class="n">make_type</span><span class="p">(</span><span class="s1">&#39;ORCA&#39;</span><span class="p">)</span>
@@ -1204,7 +1207,7 @@ <h2>Experiment<a class="headerlink" href="#Experiment" title="Link to this headi
 </div>
 <div class="output_area docutils container">
 <div class="highlight"><pre>
-datetime.timedelta(microseconds=108)
+datetime.timedelta(microseconds=101)
 </pre></div></div>
 </div>
 <p>as well as the agents’ trajectory, as an array of <code class="docutils literal notranslate"><span class="pre">steps</span> <span class="pre">x</span> <span class="pre">agents</span> <span class="pre">x</span> <span class="pre">3</span></code> coordinates.</p>
@@ -1513,7 +1516,7 @@ <h2>Real-time simulation<a class="headerlink" href="#Real-time-simulation" title
 var agents = new Set();
 var entity = {};
 var NS = "http://www.w3.org/2000/svg";
-var prototypes = {'': '#N0agent', 'thymio': '#N0thymio'}
+var prototypes = {'': '#N0agent', 'thymio': '#N0thymio', 'wheelchair': '#N0wheelchair', 'human': '#N0human'}
 
 function add_wall(id, points) {
   var e = document.createElementNS(NS,"polyline");
@@ -1698,9 +1701,9 @@ <h1></h1>
   <svg id="N0svg" width="500" height="500" viewBox="0 0 1 1 ">
     <defs>
         <circle id="N0agent" cx="0" cy="0" r="1"/>
-        <g id="N0thymio" transform="rotate(90) scale(0.125)">
+        <g id="N0thymio" transform="rotate(90) scale(0.125)" fill="#e6e6e6">
             <path
-               style="fill:#e6e6e6;stroke:none"
+               style="stroke:none"
                d="M -5.4999227 -5.8058472 L -5.4999227 2.9998169 L 5.4999227 2.9998169 L 5.4999227     -5.8089478 A 8 8 0 0 0 0 -8.0000285 A 8 8 0 0 0 -5.4999227 -5.8058472 z " />
             <rect
                style="fill:#333333;stroke:none"
@@ -1718,6 +1721,60 @@ <h1></h1>
                y="-2.0999999"
                rx="0.5" />
         </g>
+<g id="N0wheelchair" transform="scale(0.02) rotate(180) translate(-55,-173)">
+      <path
+         id="path7"
+         style="fill:#c8beb7;stroke:none;stroke-width:214.829"
+         d="m 48.06149,189.83177 h -38.89 v -33.33 h 38.89 z"
+         inkscape:transform-center-x="53.187398"
+         inkscape:transform-center-y="-39.069755" />
+      <path
+         style="color:#000000;fill:#080808;stroke:none;-inkscape-stroke:none"
+         d="m 81.382974,148.5266 v -4.11718 -4.21485 H 53.61149 v 8.33203 z"
+         id="path8" />
+      <path
+         style="color:#000000;fill:#080808;stroke:none;-inkscape-stroke:none"
+         d="m 81.382974,204.0666 v -4.11718 -4.21485 H 53.61149 v 8.33203 z"
+         id="path9" />
+      <path
+         id="path10"
+         style="fill:#483e37;stroke:none;stroke-width:314.501"
+         d="m 92.497232,199.91402 h -50 v -55.55999 h 50 z" />
+      <path
+         style="color:#000000;fill:#917c6f;stroke:none;-inkscape-stroke:none"
+         d="m 92.497232,199.91332 v -2.77148 -52.78711 h -5.558593 v 55.55859 z"
+         id="path11" />
+    </g>
+    <g id="N0human" transform="scale(0.02) rotate(180) translate(-50,-175)">
+    <ellipse
+       style="fill:#666666;fill-opacity:1;stroke:none;stroke-width:0.605428;stroke-dasharray:none"
+       id="circle11"
+       cx="54.378712"
+       cy="172.97321"
+       rx="19.763088"
+       ry="43.396534" />
+    <ellipse
+       style="fill:#1a1a1a;fill-opacity:1;stroke:none;stroke-width:0.34029;stroke-dasharray:none"
+       id="ellipse11"
+       cx="54.378712"
+       cy="172.90125"
+       rx="16.28758"
+       ry="16.635132" />
+    <ellipse
+       style="fill:#666666;fill-opacity:1;stroke:none;stroke-width:0.262666;stroke-dasharray:none"
+       id="ellipse12"
+       cx="40.156387"
+       cy="134.79787"
+       rx="23.189381"
+       ry="6.961535" />
+    <ellipse
+       style="fill:#666666;fill-opacity:1;stroke:none;stroke-width:0.262666;stroke-dasharray:none"
+       id="ellipse13"
+       cx="40.156387"
+       cy="211.14854"
+       rx="23.189381"
+       ry="6.961535" />
+    </g>
     </defs>
     <g id='N0world' transform="scale(1, -1)">
 
@@ -1739,7 +1796,7 @@ <h1></h1>
 </div>
 </div>
 <div class="nbinput nblast docutils container">
-<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[62]:
+<div class="prompt highlight-none notranslate"><div class="highlight"><pre><span></span>[ ]:
 </pre></div>
 </div>
 <div class="input_area highlight-ipython3 notranslate"><div class="highlight"><pre><span></span><span class="n">until_time</span> <span class="o">=</span> <span class="n">world</span><span class="o">.</span><span class="n">time</span> <span class="o">+</span> <span class="mi">60</span>
diff --git a/docs/tutorials/tour.ipynb b/docs/tutorials/tour.ipynb
index aaff0939..06d3f7db 100644
--- a/docs/tutorials/tour.ipynb
+++ b/docs/tutorials/tour.ipynb
@@ -530,7 +530,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 700x300 with 1 Axes>"
       ]
@@ -759,7 +759,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 700x300 with 1 Axes>"
       ]
@@ -1057,7 +1057,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 700x300 with 1 Axes>"
       ]
@@ -1287,7 +1287,7 @@
    "outputs": [
     {
      "data": {
-      "image/png": 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",
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",
       "text/plain": [
        "<Figure size 700x300 with 1 Axes>"
       ]
@@ -1330,12 +1330,14 @@
    },
    "outputs": [],
    "source": [
+    "from typing import Optional\n",
+    "\n",
     "class MyScenario(sim.Scenario):\n",
     "\n",
     "    def __init__(self):\n",
     "        super().__init__()\n",
     "    \n",
-    "    def init_world(self, world: sim.World, seed: int = 0) -> None:\n",
+    "    def init_world(self, world: sim.World, seed: Optional[int] = None) -> None:\n",
     "        super().init_world(world, seed)\n",
     "        agent = sim.Agent()\n",
     "        agent.behavior = core.Behavior.make_type('ORCA')\n",
@@ -1431,7 +1433,7 @@
     {
      "data": {
       "text/plain": [
-       "datetime.timedelta(microseconds=108)"
+       "datetime.timedelta(microseconds=101)"
       ]
      },
      "execution_count": 53,
@@ -1812,7 +1814,7 @@
        "var agents = new Set();\n",
        "var entity = {};\n",
        "var NS = \"http://www.w3.org/2000/svg\";\n",
-       "var prototypes = {'': '#N0agent', 'thymio': '#N0thymio'}\n",
+       "var prototypes = {'': '#N0agent', 'thymio': '#N0thymio', 'wheelchair': '#N0wheelchair', 'human': '#N0human'}\n",
        "\n",
        "function add_wall(id, points) {\n",
        "  var e = document.createElementNS(NS,\"polyline\");\n",
@@ -1997,9 +1999,9 @@
        "  <svg id=\"N0svg\" width=\"500\" height=\"500\" viewBox=\"0 0 1 1 \">\n",
        "    <defs>\n",
        "        <circle id=\"N0agent\" cx=\"0\" cy=\"0\" r=\"1\"/>\n",
-       "        <g id=\"N0thymio\" transform=\"rotate(90) scale(0.125)\">\n",
+       "        <g id=\"N0thymio\" transform=\"rotate(90) scale(0.125)\" fill=\"#e6e6e6\">\n",
        "            <path\n",
-       "               style=\"fill:#e6e6e6;stroke:none\"\n",
+       "               style=\"stroke:none\"\n",
        "               d=\"M -5.4999227 -5.8058472 L -5.4999227 2.9998169 L 5.4999227 2.9998169 L 5.4999227     -5.8089478 A 8 8 0 0 0 0 -8.0000285 A 8 8 0 0 0 -5.4999227 -5.8058472 z \" />\n",
        "            <rect\n",
        "               style=\"fill:#333333;stroke:none\"\n",
@@ -2017,6 +2019,60 @@
        "               y=\"-2.0999999\"\n",
        "               rx=\"0.5\" />\n",
        "        </g>\n",
+       "<g id=\"N0wheelchair\" transform=\"scale(0.02) rotate(180) translate(-55,-173)\">\n",
+       "      <path\n",
+       "         id=\"path7\"\n",
+       "         style=\"fill:#c8beb7;stroke:none;stroke-width:214.829\"\n",
+       "         d=\"m 48.06149,189.83177 h -38.89 v -33.33 h 38.89 z\"\n",
+       "         inkscape:transform-center-x=\"53.187398\"\n",
+       "         inkscape:transform-center-y=\"-39.069755\" />\n",
+       "      <path\n",
+       "         style=\"color:#000000;fill:#080808;stroke:none;-inkscape-stroke:none\"\n",
+       "         d=\"m 81.382974,148.5266 v -4.11718 -4.21485 H 53.61149 v 8.33203 z\"\n",
+       "         id=\"path8\" />\n",
+       "      <path\n",
+       "         style=\"color:#000000;fill:#080808;stroke:none;-inkscape-stroke:none\"\n",
+       "         d=\"m 81.382974,204.0666 v -4.11718 -4.21485 H 53.61149 v 8.33203 z\"\n",
+       "         id=\"path9\" />\n",
+       "      <path\n",
+       "         id=\"path10\"\n",
+       "         style=\"fill:#483e37;stroke:none;stroke-width:314.501\"\n",
+       "         d=\"m 92.497232,199.91402 h -50 v -55.55999 h 50 z\" />\n",
+       "      <path\n",
+       "         style=\"color:#000000;fill:#917c6f;stroke:none;-inkscape-stroke:none\"\n",
+       "         d=\"m 92.497232,199.91332 v -2.77148 -52.78711 h -5.558593 v 55.55859 z\"\n",
+       "         id=\"path11\" />\n",
+       "    </g>\n",
+       "    <g id=\"N0human\" transform=\"scale(0.02) rotate(180) translate(-50,-175)\">\n",
+       "    <ellipse\n",
+       "       style=\"fill:#666666;fill-opacity:1;stroke:none;stroke-width:0.605428;stroke-dasharray:none\"\n",
+       "       id=\"circle11\"\n",
+       "       cx=\"54.378712\"\n",
+       "       cy=\"172.97321\"\n",
+       "       rx=\"19.763088\"\n",
+       "       ry=\"43.396534\" />\n",
+       "    <ellipse\n",
+       "       style=\"fill:#1a1a1a;fill-opacity:1;stroke:none;stroke-width:0.34029;stroke-dasharray:none\"\n",
+       "       id=\"ellipse11\"\n",
+       "       cx=\"54.378712\"\n",
+       "       cy=\"172.90125\"\n",
+       "       rx=\"16.28758\"\n",
+       "       ry=\"16.635132\" />\n",
+       "    <ellipse\n",
+       "       style=\"fill:#666666;fill-opacity:1;stroke:none;stroke-width:0.262666;stroke-dasharray:none\"\n",
+       "       id=\"ellipse12\"\n",
+       "       cx=\"40.156387\"\n",
+       "       cy=\"134.79787\"\n",
+       "       rx=\"23.189381\"\n",
+       "       ry=\"6.961535\" />\n",
+       "    <ellipse\n",
+       "       style=\"fill:#666666;fill-opacity:1;stroke:none;stroke-width:0.262666;stroke-dasharray:none\"\n",
+       "       id=\"ellipse13\"\n",
+       "       cx=\"40.156387\"\n",
+       "       cy=\"211.14854\"\n",
+       "       rx=\"23.189381\"\n",
+       "       ry=\"6.961535\" />\n",
+       "    </g>\n",
        "    </defs>\n",
        "    <g id='N0world' transform=\"scale(1, -1)\">\n",
        "      \n",
@@ -2056,7 +2112,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 62,
+   "execution_count": null,
    "id": "75b5481c",
    "metadata": {
     "tags": []
@@ -2084,7 +2140,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.12"
+   "version": "3.10.13"
   }
  },
  "nbformat": 4,
diff --git a/navground_sim/navground/sim/__init__.py b/navground_sim/navground/sim/__init__.py
index 847a87cb..6e6c8e60 100644
--- a/navground_sim/navground/sim/__init__.py
+++ b/navground_sim/navground/sim/__init__.py
@@ -1,7 +1,7 @@
 from typing import Callable, List
 
 import pkg_resources
-from navground.core import _register
+from navground.core import _register, registered_property
 from navground.core import load_py_plugins as _load_py_plugins
 
 from ._navground_sim import Agent, BoundingBox, Entity, Experiment, Obstacle
@@ -64,5 +64,5 @@ def load_py_plugins():
     'WaypointsTask', 'Experiment', 'Scenario', 'StateEstimation', 'Task',
     'BoundingBox', 'dump', 'TaskCallback', 'load_agent',
     'load_state_estimation', 'load_task', 'load_world', 'load_scenario',
-    'load_experiment', 'load_py_plugins'
+    'load_experiment', 'load_py_plugins', 'registered_property'
 ]
