# scene
scene: gibson
scene_id: area1
build_graph: true
load_texture: true
pybullet_load_texture: true
trav_map_type: no_obj
trav_map_resolution: 0.1
trav_map_erosion: 2
should_open_all_doors: true

# domain randomization
texture_randomization_freq: null
object_randomization_freq: null

# robot
robot: Turtlebot
is_discrete: false
velocity: 1.0

# task
task: point_nav_fixed
initial_pos: [0.0, 0.0, 0.0]
initial_orn: [0.0, 0.0, 0.0]
goal_format: polar
task_obs_dim: 4

# reward
reward_type: geodesic
success_reward: 10.0
potential_reward_weight: 1.0
collision_reward_weight: -0.1

# discount factor
discount_factor: 0.99

# termination condition
dist_tol: 0.36  # body width
max_step: 500
max_collisions_allowed: 500

# misc config
initial_pos_z_offset: 0.1
collision_ignore_link_a_ids: [1, 2, 3, 4]  # ignore collisions with these robot links

# sensor spec
output: [task_obs, rgb, depth, scan]
enable_pbr: false
# image
# Simulated camera with 90 degree field of view
# If this is changed, also need to change the CameraInfo message
fisheye: false
image_width: 256
image_height: 256
vertical_fov: 90
# depth
depth_low: 0.8
depth_high: 3.5
# scan
# Hokuyo URG-04LX-UG01
# https://www.hokuyo-aut.jp/search/single.php?serial=166
# n_horizontal_rays is originally 683, sub-sampled 1/3
n_horizontal_rays: 228
n_vertical_beams: 1
laser_linear_range: 5.6
laser_angular_range: 240.0
min_laser_dist: 0.05
laser_link_name: scan_link

# sensor noise
depth_noise_rate: 0.0
scan_noise_rate: 0.0

# visual objects
visible_target: true

