quadrotor_env:
  collect_data: yes       # yes in Data Collection (random init state); no in Imitation Learning and Testing
  bounding_box: [60.0, 60.0, 2.0]     # spawn quadrotor within this bounding box
  bounding_box_origin: [-10, 20, 2.5]
  sim_dt: 0.1             # sim_dt in imitation learning and testing

data_collection:
  roll_var: 0.01
  pitch_var: 0.01

rgb_camera_left:
  on: yes 
  t_BC: [0.0, 0.0, 0.1]   # 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.
  width: 160
  height: 90
  fov: 90.0               # Horizontal FOV
  enable_depth: yes 
  enable_segmentation: no # not used
  enable_opticalflow: no  # not used

# Enable Stereo depth when rgb_camera_right on.
rgb_camera_right:
  on: no
  t_BC: [0.0, -0.2, 0.1]  # 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.