51 lines
1.4 KiB
YAML
51 lines
1.4 KiB
YAML
# IMPORTANT: velocity in testing (modifiable)
|
|
velocity: 6.0
|
|
|
|
# IMPORTANT: vel_max and acc_max in training
|
|
# not the actual values in testing, ensure consistency between testing and training, please refer to ../policy/primitive.py
|
|
vel_max_train: 6.0
|
|
acc_max_train: 6.0
|
|
|
|
# IMPORTANT: weight of costs for unit speed (can be visualized in tensorboard)
|
|
wg: 0.12 # guidance
|
|
ws: 10.0 # smoothness
|
|
wc: 0.1 # collision
|
|
|
|
# dataset
|
|
dataset_path: "../dataset"
|
|
image_height: 96
|
|
image_width: 160
|
|
|
|
# trajectory and primitive param (Note: traj_time = 2 * radio / vel_max) (can be visualized in rviz)
|
|
horizon_num: 5
|
|
vertical_num: 3
|
|
horizon_camera_fov: 90.0
|
|
vertical_camera_fov: 60.0
|
|
horizon_anchor_fov: 30.0
|
|
vertical_anchor_fov: 30.0
|
|
radio_range: 5.0 # planning horizon: 2 * radio_range
|
|
radio_num: 1 # only support 1 currently
|
|
|
|
# safety penalties
|
|
d0: 1.2
|
|
r: 0.6
|
|
|
|
# distribution for unit state sampling (can be visualized by 'python ./policy/yopo_dataset.py')
|
|
vx_mean_unit: 0.4
|
|
vy_mean_unit: 0.0
|
|
vz_mean_unit: 0.0
|
|
vx_std_unit: 2.0
|
|
vy_std_unit: 0.45
|
|
vz_std_unit: 0.3
|
|
ax_mean_unit: 0.0
|
|
ay_mean_unit: 0.0
|
|
az_mean_unit: 0.0
|
|
ax_std_unit: 0.5
|
|
ay_std_unit: 0.5
|
|
az_std_unit: 0.3
|
|
goal_pitch_std: 10.0 # clip goal_length to: 2 * radio_range; 10% probability [0, 2 * radio_range]
|
|
goal_yaw_std: 20.0
|
|
|
|
# extend the map to avoid trajectory exceeding bounds (especially in z-axis) and treating the sky outside the map as obstacle
|
|
map_expand_min: [0, 0, 0.2]
|
|
map_expand_max: [0, 0, 6.0] |