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quadrotor_3D_track.yaml
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quadrotor_3D_track.yaml
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task_config:
seed: 1337
info_in_reset: True
ctrl_freq: 50
pyb_freq: 1000
physics: pyb
quad_type: 3
normalized_rl_action_space: True
init_state:
init_x: 0.4
init_x_dot: 0
init_y: 0.4
init_y_dot: 0
init_z: 1.4
init_z_dot: 0
init_phi: 0
init_theta: 0
init_psi: 0
init_p: 0
init_q: 0
init_r: 0
randomized_init: True
randomized_inertial_prop: False
init_state_randomization_info:
init_x:
distrib: 'uniform'
low: -1
high: 1
init_x_dot:
distrib: 'uniform'
low: -0.1
high: 0.1
init_y:
distrib: 'uniform'
low: -1
high: 1
init_y_dot:
distrib: 'uniform'
low: -0.1
high: 0.1
init_z:
distrib: 'uniform'
low: 1
high: 2
init_z_dot:
distrib: 'uniform'
low: -0.1
high: 0.1
init_phi:
distrib: 'uniform'
low: -0.2
high: 0.2
init_theta:
distrib: 'uniform'
low: -0.2
high: 0.2
init_psi:
distrib: 'uniform'
low: -0.2
high: 0.2
init_p:
distrib: 'uniform'
low: -0.1
high: 0.1
init_q:
distrib: 'uniform'
low: -0.1
high: 0.1
init_r:
distrib: 'uniform'
low: -0.1
high: 0.1
task: traj_tracking
task_info:
trajectory_type: figure8
num_cycles: 1
trajectory_plane: 'xz'
trajectory_position_offset: [0, 1]
trajectory_scale: 1
proj_point: [0, 0, 0.5]
proj_normal: [0, 1, 1]
inertial_prop:
M: 0.027
Ixx: 1.4e-5
Iyy: 1.4e-5
Izz: 2.17e-5
episode_len_sec: 6
cost: rl_reward
obs_goal_horizon: 1
# RL Reward
rew_state_weight: [1, 0.01, 1, 0.01, 1, 0.01, 0.5, 0.5, 0.5, 0.01, 0.01, 0.01]
rew_act_weight: 0.0001
rew_exponential: True
info_mse_metric_state_weight: [1, 0.01, 1, 0.01, 1, 0.01, 0.5, 0.5, 0.5, 0.01, 0.01, 0.01]
constraints:
- constraint_form: default_constraint
constrained_variable: state
upper_bounds:
- 2
- 1
- 2
- 1
- 2
- 1
- 0.2
- 0.2
- 0.2
- 1
- 1
- 1
lower_bounds:
- -2
- -1
- -2
- -1
- 0
- -1
- -0.2
- -0.2
- -0.2
- -1
- -1
- -1
- constraint_form: default_constraint
constrained_variable: input
upper_bounds:
- 0.148
- 0.148
- 0.148
- 0.148
lower_bounds:
- 0.029
- 0.029
- 0.029
- 0.029
done_on_out_of_bound: True
done_on_violation: False