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config.yaml
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config.yaml
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environment:
level: hard # three difficulty level [easy, median, hard]
world_box: [-20, 80, -10, 10, 0.0, 10] # xmin, xmax, ymin, ymax, zmin, zmax
goal_vel: [3.0, 0.0, 0.0] # goal velicty for tracking vx, vy, vz
max_detection_range: 10.0 # max obstacle detection range, in meters
rewards:
vel_coeff: -0.01
collision_coeff: -0.01
angular_vel_coeff: -0.0001
survive_rew: 0.03
names: [lin_vel_reward, collision_penalty, ang_vel_penalty, survive_rew, total]
rgb_camera:
on: yes
t_BC: [0.0, 0.0, 0.3] # translational vector of the camera with repect to the body frame
r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree.
channels: 3
width: 320
height: 240
fov: 70.0
enable_depth: yes
enable_segmentation: no
enable_opticalflow: no
unity:
scene_id: 0 # 0 warehouse, 1 garage, 3 natureforest
render: no
simulation:
seed: 1
sim_dt: 0.02
max_t: 10.0
num_envs: 100
num_threads: 10
quadrotor_dynamics:
mass: 0.752
tbm_fr: [0.075, -0.10, 0.0] # [m]
tbm_bl: [-0.075, 0.10, 0.0] # [m]
tbm_br: [-0.075, -0.10, 0.0] # [m]
tbm_fl: [0.075, 0.10, 0.0] # [m
omega_max: [6.0, 6.0, 2.0]
inertia: [0.0025, 0.0021, 0.0043]
kappa: 0.022
motor_omega_min: 150.0
motor_omega_max: 2800.0
motor_tau: 0.033
thrust_map: [1.562522e-6, 0.0, 0.0] # max thrust = 8.50 N
body_drag_1: [0.00, 0.00, 0.00]
body_drag_3: [0.00, 0.00, 0.00]
body_drag_h: 0.00