{
  "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
  }
}