avoidObstacle_default_config.yaml

# config that builds the env as Yifan had it
run:
  algorithm:
    load_model: False  
    model_path: ""  
    type: "PPO"
    gamma: 0.99
    learning_rate: 0.0003
  train:
    num_envs : 16  
    logging: 0
    timesteps: 15000000 
    save_freq : 30000
    save_folder: "./models/weights"  
    save_name: "avoidobstacle_default"
  eval:
    max_episodes: -1  
    logging: 1  
    display_delay: 0.00416666666 
    show_world_aux: True
    show_goal_aux: True
    show_sensor_aux: False

env:
  max_steps_per_episode: 1024  
  stat_buffer_size: 25  
  normalize_observations: False
  normalize_rewards: False
  use_physics_sim: True
  gravity: [0, 0, -9.8]
  sim_step: 0.00416666666 
  sim_steps_per_env_step: 1 
  robots:
    - type: "UR5"
      config:
        name: "ur5_1"
        base_position: [ 0, 0, 1.1 ]
        base_orientation: [ 0, 0, 0 ]
        resting_angles: [ -180, -45, -90, -135, 90, 0 ]
        control_mode: 2
        xyz_delta: 0.005
        rpy_delta: 0.005
      sensors:
        - type: "LidarSensorUR5"
          config:
            update_steps: 1
            add_to_observation_space: True
            add_to_logging: True
            indicator_buckets: 6
            ray_start: 0
            ray_end: 0.3
            ray_setup:
              ee_forward: [ 1, 1 ]
              wrist3_circle: [ 5, 5 ]
              wrist2_circle: [ 5, 5 ]
              wrist1_circle: [ 5, 5 ]
              upper_arm: [ 5, 5 ]
            indicator: True
        #- type: "Obstacle"
        #  config:
        #    update_steps: 1
        #    add_to_observation_space: True
        #    add_to_logging: True
        #    num_obstacles: 3
        #    max_distance: 10
        #    reference_link_id: 7
      goal:
        type: "PositionCollision"
        config:
          add_to_logging: True
          continue_after_success: True
          reward_success: 10
          reward_collision: -5
          reward_distance_mult: -0.01
          dist_threshold_start: 0.2
          dist_threshold_end: 0.01
          dist_threshold_increment_start: 0.01
          dist_threshold_increment_end: 0.001
          dist_threshold_overwrite: "None"

  world:
    type: "AvoidObstacle"
    config:
      workspace_boundaries: [-1.5, 1.5, -1, 1, 1.1, 2.1]
      moving_obstacles_vels: [0.5, 2]