1 turtlebot2: #namespace
   2 
   3     running_step: 0.04 # amount of time the control will be executed
   4     pos_step: 0.016     # increment in position for each command
   5     
   6     #qlearn parameters
   7     alpha: 0.1
   8     gamma: 0.7
   9     epsilon: 0.9
  10     epsilon_discount: 0.999
  11     nepisodes: 500
  12     nsteps: 10000
  13     number_splits: 10 #set to change the number of state splits for the continuous problem and also the number of env_variable splits
  14 
  15     # environment parameters
  16     running_step: 0.06 # Time for each step
  17     wait_time: 0.1 # Time to wait in the reset phases
  18 
  19     n_actions: 3 # We have 3 actions, Forwards,TurnLeft,TurnRight,Backwards
  20     n_observations: 6 # We have 6 different observations
  21 
  22     speed_step: 1.0 # Time to wait in the reset phases
  23 
  24     linear_forward_speed: 0.5 # Spwwed for ging fowards
  25     linear_turn_speed: 0.05 # Lienare speed when turning
  26     angular_speed: 0.3 # Angular speed when turning Left or Right
  27     init_linear_forward_speed: 0.0 # Initial linear speed in which we start each episode
  28     init_linear_turn_speed: 0.0 # Initial angular speed in shich we start each episode
  29     
  30     new_ranges: 5 # How many laser readings we jump in each observation reading, the bigger the less laser resolution
  31     min_range: 0.5 # Minimum meters below wich we consider we have crashed
  32     max_laser_value: 6 # Value considered Ok, no wall
  33     min_laser_value: 0 # Value considered there is an obstacle or crashed
  34     
  35     desired_pose:
  36       x: 5.0
  37       y: 0.0
  38       z: 0.0
  39     
  40     forwards_reward: 5 # Points Given to go forwards
  41     turn_reward: 1 # Points Given to turn as action
  42     end_episode_points: 200 # Points given when ending an episode