27 lines
998 B
YAML
27 lines
998 B
YAML
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quadrotor_env:
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collect_data: yes # yes in Data Collection (random init state); no in Imitation Learning and Testing
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bounding_box: [60.0, 60.0, 2.0] # spawn quadrotor within this bounding box
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bounding_box_origin: [-10, 20, 2.5]
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sim_dt: 0.1 # sim_dt in imitation learning and testing
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data_collection:
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roll_var: 0.01
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pitch_var: 0.01
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rgb_camera_left:
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on: yes
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t_BC: [0.0, 0.0, 0.1] # translational vector of the camera with repect to the body frame
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r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree.
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width: 160
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height: 90
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fov: 90.0 # Horizontal FOV
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enable_depth: yes
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enable_segmentation: no # not used
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enable_opticalflow: no # not used
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# Enable Stereo depth when rgb_camera_right on.
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rgb_camera_right:
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on: no
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t_BC: [0.0, -0.2, 0.1] # translational vector of the camera with repect to the body frame
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r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree.
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