| { | |
| "rate_hz": 10.0, | |
| "scan_downsample": 360, | |
| "format": "csv", | |
| "fields": [ | |
| "episode_id", | |
| "step", | |
| "t", | |
| "next_t", | |
| "state_x", | |
| "state_y", | |
| "state_yaw", | |
| "state_goal_dist", | |
| "state_goal_bearing", | |
| "state_odom_v", | |
| "state_odom_w", | |
| "state_imu_ax", | |
| "state_imu_ay", | |
| "state_imu_az", | |
| "state_imu_gx", | |
| "state_imu_gy", | |
| "state_imu_gz", | |
| "state_scan", | |
| "state_scan_min", | |
| "state_scan_mean", | |
| "state_scan_std", | |
| "action_v", | |
| "action_w", | |
| "reward", | |
| "reward_goal", | |
| "reward_collision", | |
| "reward_progress", | |
| "reward_time", | |
| "reward_smooth", | |
| "reward_clearance", | |
| "reward_heading", | |
| "reward_stuck", | |
| "next_state_x", | |
| "next_state_y", | |
| "next_state_yaw", | |
| "next_state_goal_dist", | |
| "next_state_goal_bearing", | |
| "next_state_odom_v", | |
| "next_state_odom_w", | |
| "next_state_imu_ax", | |
| "next_state_imu_ay", | |
| "next_state_imu_az", | |
| "next_state_imu_gx", | |
| "next_state_imu_gy", | |
| "next_state_imu_gz", | |
| "next_state_scan", | |
| "next_state_scan_min", | |
| "next_state_scan_mean", | |
| "next_state_scan_std", | |
| "done", | |
| "done_reason", | |
| "event_active", | |
| "event_type", | |
| "event_source", | |
| "replan_count_so_far", | |
| "recovery_count_so_far" | |
| ], | |
| "reward": { | |
| "goal": 100.0, | |
| "collision": -150.0, | |
| "progress": 1.0, | |
| "time": -0.1, | |
| "smooth": 0.05, | |
| "clearance": 1.0, | |
| "heading": 0.1, | |
| "stuck": 1.0, | |
| "safe_distance": 0.35, | |
| "stuck_steps": 40, | |
| "progress_epsilon": 0.01 | |
| } | |
| } |